The Autonomous Sentry Turret is a standalone system capable of detecting and neutralizing unwanted intruders via a barrage of soft foam darts. Built for the office environment, the AST is a powerful piece of hardware that needs no human input although you can remotely disable it, for y'know, safety reasons.
Consisting of a modified electric Nerf gun mounted on servo mechanism, the machine is Intel Edison-powered and fitted with a long-range lidar and motion sensor. Read along to see how it's made! New to Arduino?
If this is all a bit above your head, or you need a quick refresher, I recently wrote a comprehensive Arduino guide to bring you up to speed before you try to tackle the turret.
Did you use this instructable in your classroom? Add a Teacher Note to share how you incorporated it into your lesson. Intel Edison with Arduino breakout. LidarLite V2. PIR sensor. Grove relay module. The first step on our path to world, ehem, office domination begins with disassembling the nerf gun.
I chose the CS N-Strike Elite Rapidstrike as the heart of the turret, as it is reasonably compact and electronic, which means we'll be able to modify it for easy control. The gun has a lot of tiny parts that need to be removed, so I've broken up the modification into many separate steps.
First, flip the gun to lay on its side with holes up. Exercise your dominant hand, grab a Phillips head screw driver and begin the process of removing the screws. All 22 exterior screws are accessible from the same side, with the exception of the battery cap. The tail stock has screws as well, but it is a standalone assembly that pops right out when the case is open.
The case doesn't have any tabs, so you can gently pry it apart once you're confident the screws are removed.
The battery case has four captive screws that need to be loosened to fully separate the gun body into two parts. Once the case is out, it can be set aside, since the entire turret will be powered by a single Lithium battery anyhow.
The two halves of the gun body are only connected by the negative battery lead, so you'll need to pull this out in order to fully separate the case. Once the body is split, let the loose plastic bits fall out and remove the tail stock.
At its core, the gun really only has two main mechanisms: a linear actuator that pushes the darts, and a pair of drums that accelerate the darts down the barrel. It would be quite possible to make a super compact version that simply placed these in a custom enclosure, but for the sake of time it is easier just to modify the gun. In order to make the next steps easier, we'll need to unscrew the drum, linear actuator, and trigger mechanisms. They are also held in with a handful of Phillips screws.
With the mechanisms separate from the case, we can now dive into modifying the actual circuit. The gun has a lot of momentary safety switches to prevent the gun from running without being properly closed and triggers held. We'll be controlling this electronically, so rather than physically closing the switches, we'll just solder them permanently. This is the main power wire from the battery case.
This switch engages the accelerator drums. At first I thought it might be useful to spin them up via a separate circuit, but in practice the gun shot just as far when both the drums and actuator were turned on simultaneously. Simply cut the wire leading to the switch and solder it to the board where the other wire from the switch was previously.
The intelligent geo-navigation system guides the K-MATIC safely without additional guide rails in the floor or laser reflectors, and is compatible with all common narrow aisle applications. Whether as an individual truck carrying out defined process steps, or as part of a centrally controlled fleet of robotic trucks, the superior functionality of the K-MATIC provides high handling performance even for complex operating requirements.
As an autonomous logistics truck, it mitigates damage to loads and pallets and is particularly well-suited to the handling of high-value goods. Quick and easy to maintain, the robotic truck can be relied upon to be ready for use round-the-clock and can also be operated manually by a driver. Using its own on-board safety system, the self-controlling K-MATIC forklift reacts sensitively to its surroundings: Independently of the navigation technology, laser and camera-based safety equipment steer the K-MATIC safely through its surroundings, reliably detecting people or other obstacles as it does so.
The self driving very narrow aisle truck is also equipped with emergency stop buttons and acoustic warning signals and flashing lights. All round observation of the working environment Combined safety technology with lasers and cameras Acoustic and visual warning systems. The system is compatible with all major warehouse management and ERP systems and converts the necessary materials flow into movement tasks.
Trouble-free shelf stacking and removal processes are assured thanks to 3D pallet recognition with integrated distance monitoring. What's more, the laser and camera-supported safety system guarantees that the very narrow aisle trucks can also move around in areas with normal operating traffic without any significant loss of time. In this way the areas being monitored around the truck are adapted to the speed of travel and steering angle. If the truck has stopped because an obstacle has been detected, it continues with the task as soon as the way is free again.
Changes to the work environment can be remapped in a short time thanks to the laser measurement and stored within the system. Interface to warehouse management and ERP systems Intelligent routing and task control Precise control and monitoring of pallet movements Safe use alongside people and non-autonomous trucks Flexibly adaptable to changes Switch to manual operation possible at any time.
By entering a PIN, the technician activates the service mode and can safely carry out the required servicing tasks on the easily accessible components. Truck data that is relevant for maintenance is transmitted via wireless link and evaluated by diagnostics software.
This enables forward-looking servicing — wear and minor damage are recognized early, and the required inspection intervals and parts replacement are calculated and planned.
If you would like to ban cookies in general, you must do this in your browser settings. Ever since antiquity, the mobile assault tower has been firmly established among the machinery of war.
While the Greeks opted for megalomania and intimidation, the Romans, with their turris ambulatoria, or siege tower, chose a more modular and mobile design that could more easily be adapted to the target in question.
Over 2, years later, the basic Roman idea — flexible and as well protected as possible with plenty of firepower for defending against attackers — has not changed much. However, the design of the latest turret systems for wheeled and tracked armored vehicles no longer has anything to do with their ancient, wooden archetypes. Furthermore, with their enormous potential for enhancement, these modern turrets are already prepared for the challenges of coming decades.
Rheinmetall has been one of the leading suppliers of turret systems for more than five decades. More than 6, turrets, fully loaded with high technology, have been delivered to various customers worldwide so far. Moreover, the systems supplier is one of the leading providers of fire control systems and medium- and large-caliber weapons, with more than 10, deliveries around the world. Its expertise in wheeled and tracked vehicle technology is also extensive.
All this knowledge has now been incorporated into the LANCE turret as a particularly modular, mobile and modern system.
The turret and its weapon can be integrated in almost any armored wheeled or tracked vehicle and is thus highly mobile. The use of this cannon brings a host of advantages for the vehicle crew.
The turret has a reserve of rounds of two different ammunition types for the main weapon. This means that the weapon can be resupplied with ammunition without the soldiers having to leave the protected vehicle interior. The turret also enables moving targets to be engaged accurately and effectively even when the vehicle itself is moving.
Naturally, other weapons of various calibers or from other suppliers can also be integrated in the LANCE turret. Full flexibility is ensured in this respect as well. Two electro-optical sights — each equipped with a high-resolution camera, a thermal imaging camera and a laser rangefinder — are also provided. One of the sights enables degree visibility, irrespective of the movement of the turret.
Of particular benefit is the fact that each system can be operated both by the commanding officer and by the gunner. As well as the base version, a range of additional equipment can be integrated. A Situational Awareness System SASan independent weapons station, C4I systems for network-enabled operations and an additional sight for the commanding officer are just a few examples of the virtually endless expansion possibilities.
The programmable weapon relies on an 8 servo serial controller and a sn High Torque servo motor, not to mention a good bit of programming to get things in working order. What started out as a curious ambition has now developed into quite a serious project, as the creator is hoping to "develop a weapons platform for the Defcon Bots competition," and judging by what we see here, things are lookin' up.
The robotic sentry can apparently take out targets on its own or follow a simple laser to targets and fire away, but alas, what good would a made from scratch robotic piece of artillery be without a video to demonstrate? Click on through to see the firepower. Buyer's Guide. Log in. Sign up. Autonomous, laser-guided turret takes aim. Latest in Airsoft. Image credit:.
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From around the web. Page 1 Page 1 ear icon eye icon Fill 23 text file vr.Our turret is able to locate blue objects in real time and autonomously track it with two degree freedom of motion rotation and tilt.
Our system can also be remotely controlled to emit a laser beam and to fire a rubber band at the target. Inspired by the surface-to-air missile in the movie Olympus Has Fallen and excited by the influx of the useful applications of computer vision, we wanted to create a project that seamlessly integrates both elements. This fascination led to our creation of the autonomous object tracking turret. At a high level, the mini computer Raspberry Pi serves as the brain of our turret.
The Pi processes the images captured by the camera module to detect the target object and then outputs feedback control signals that move the servos to follow the object.
The hardware design of our turret consists of a Raspberry Pi, a pan tilt kit, a camera module, a laser, and a rubber band projectile mechanism. We first started with building the pan-tilt kit. The pan-tilt kit is nicely packaged kit that allowed us to get the desired motion we wanted for our turret.
It consisted of all the screws, plastic housing, and two micro servos with feedback that can each move degrees. Once put together, we quickly began to test and control each of the motors, one for rotation, and one for tilt.
Interestingly, despite the popularity of these micro servos, we were not able to find a reliable datasheet that specified the operating frequencies of these motors, only the operating periods were provided. Thus, we started testing these servos with the same frequency as the Parallax servo used in class, which was 50 Hz. Surprisingly, the frequency used in our previous servos worked for these servos also.
The data sheet specified 1. Using these values and a 50 Hz period, the duty cycles were calculated to be between 7. However, when we were actually testing the motors, we determined that these duty cycles, given in the datasheet, gave us less than the degree specified.
Therefore, after further experimentation, we determined that the duty cycle range that would give us the exact degree motion is between 3. Figure 2: Autonomous Object Tracking Turret. Once we got the pan tilt working with the servos moving to the desired angle, we integrated the servo control with the camera to allow for the autonomous tracking of an object.
As seen in the image above, the camera module is directly attached to the pan kit such that both the rotation and tilt movements move the direction the camera is pointing at, giving us the ability to view the full half of the room. We decided to use rubber bands to secure to camera because not only were rubber bands strong enough to hold the camera in place, but it also allowed for minor adjustments when needed. In addition to the camera, we also mounted a laser pointer on one side of the turret that has a control line which allowed the laser to be controlled via software; though, the range of the laser was a mere 5 feet.
Another added feature of our turret, which was a distinguishing feature for our project, was a DIY rubber band shooting mechanism.
To weaponize our turret, we hot glued a ,third, continuous rotation servo on the back of the turret as well as a grated chopstick on one side of the turret to serve as our weapon.Did you use this instructable in your classroom? Add a Teacher Note to share how you incorporated it into your lesson.
While it seems that there are a lot of parts required, this project can be done on a relatively cheap budget depending on where you buy the parts. The following parts are what I used to make my turret, they do not have to be exactly the same. The base is one of the most important parts of this project. It protects all of the electronics and gives the main turret a surface to operate on.
I recommend making the base out of foamcore board because it is very sturdy and relatively easy to work with. In essence the base is just a cardboard box. The dimensions are not exact, you just have to make sure the box is big enough to hold all of the electronics and batteries. The following steps are a rough plan on how to make a sturdy base: Cut out 4 pieces of foamcore board 5"x9. One key step that makes the turret work a lot smoother is cutting out a notch to rest the cross beam in.
In the photo you can see where the cross beam sits in the middle of the box. Cut out 2 pieces of foamcore board 9. On the top piece make a hole in the very middle of one of the pieces. This is where the main axle will go. Make another hole 2. Hot glue all of these pieces together making a strong and sturdy box. The base is finished! In order to make the turret move smooth and quickly, we need to make the gun lighter and less bulky.
South Korea's autonomous robot gun turrets: deadly from kilometers away
I started out with the Crossman R I took off the rails from the side to make it lighter and I cut off the handle to make it mount easier to a piece of VEX metal, by doing so I also removed a lot of weight from the gun. To control the gun from a microcontroller you have to use a special circuit.
The following diagram lets you turn the gun on and off by using a digital port on any microcontroller. To build the actual turret frame you need the VEX motors, gears, screws, and nuts.
I recommend using a long piece as the crossbeam to support the turret from underneath. This piece has the pan motor and gears attached to it. The entire turret rides on the tooth gear.How to Make a Raspberry Pi Motion Tracking Airsoft / Nerf Turret
On top of the tooth gear, build a simple U-shaped bracket out of the VEX metal. This is going to be the bracket that allows the gun to tilt up and down. On one of the sides of this U-bracket, attach the motor and tooth and tooth gear. By using a small gear to drive a larger gear, the turret can tilt very precisely and smoothly.
Attach the airsoft gun to the 84 tooth tilt gear. I did this by hot gluing the gun to the gear and to a piece of metal attached to the tilt axle. The electronics in this project are pretty simple.
The base configuration involves 2 motors, an Arduino Mega, and a Bluetooth adapter. Nothing else! But if you wanted to really jazz up your turret you can add all kinds of great accessories, such as a laser pointer, a bumper switch to act as a "kill switch", an ultrasonic sensor to determine how far away a target is, and much more. The Arduino Mega is perfect for this project because it is a very flexible microcontroller.
There are more than enough analog and digital ports to handle all the accessories that you might use.Add the following snippet to your HTML:. Read up about this project on. Use computer vision to control a Nerf gun, aim, and fire, all on its own!
A few years ago, I saw a project that showcased a semi-autonomous turret that could fire on its own once aimed. That gave me the idea to use a Pixy 2 camera to acquire targets and then aim the nerf gun automatically, which could then lock on and fire all on its own.
For this project, the gun would need eyes, so I chose to use the Pixy 2 due to how easily it can interface with the mainboard. Then I needed a microcontroller, so I chose an Arduino Mega due to how many pins it has.
Since the gun needs two axes, yaw and pitch, it requires two stepper motors. I began by loading up Fusion and inserting an attached canvas of the nerf gun. Then I created a solid body from that canvas. After the gun was designed, I made a platform with a few bearing-based supports that would allow the gun to rotate left to right. I placed a stepper motor next to the rotating platform to drive it.
But the bigger question is how to make the gun pitch up and down. For that, a linear drive system with one point attached to the moveable block and another point at the back of the gun was needed.
A rod would connect the two points, allowing the gun to pivot along its central axis. Almost all the parts in my design are meant to be 3D printed, so I used my two printers to create them. Then I created the moveable platform by first using Fusion to generate the necessary toolpaths for my CNC router, then I cut out the disk from a sheet of plywood.
After all the parts had been created, it was time to assemble them. I started by connecting the bearing supports to the rotating disk. Then I put together the linear pitch assembly by running the 6mm aluminum rods and the threaded rod through the pieces. Lastly, I attached the nerf gun itself with a steel rod and two post made from aluminum extrusions.
Now for the most difficult part of the project: programming. A projectile-firing machine is very complex, and the math behind it can be confusing. I started by writing out the program flow and logic step-by-step, detailing what would happen at each machine state. The different states go as follows:. Acquiring the target involves first setting up the Pixy to track neon pink objects as targets.
By using this distance, the horizontal and vertical distances can be found by using some basic trigonometric functions. After it has spooled up for five seconds it then moves the servo motor to pull the trigger. It did well, as my program calibrates and adjusts the angle for the measured distance. Here is a video demonstrating the gun working:.
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Raspberry Pi Motion Tracking Gun Turret
Autonomous Nerf Sentry Turret. Advanced Full instructions provided 10 hours 10, Things used in this project. Idea A few years ago, I saw a project that showcased a semi-autonomous turret that could fire on its own once aimed.
Custom parts and enclosures.