Lonely Autonomous Sentry Turret

This project is the result of a collaboration between Larry Kavit, Sultan Khan and I. It is a vision guided automatic NERF gun based on the Vulcan NERF gun.

There are 3 main parts to this project, the first is the Vision system, there is a Logitech webcam at the front of the system, it takes a reference image and then constantly monitors the video stream for deviations from the reference. If sufficient variation is detected it calculates a bounding box for the disturbance and relays the coordinates to the Control Board.
The second main component is the Control Board, it consists of an Arduino and a hand etched daughter board which contains the motor driver for the firing mechanism and provides a neat interface for all the servos and sensors used in the system.
The 3rd and final component of the system is the two axis gymbal mount for the NERF Vulcan, this was custom made out of sheet metal.