Wireless Control Airsoft Gun Colors Tracking Robot

 

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This is my senior years final project, i build the mini tank with M4-Carbine Airsoft gun mounted. It can wireless control RGB color tracking. let see robot specification source code below.

– Manual control
with joy stick and GUI moving forward, backward, turn left, turn right, spin left, spin right with full speed control, fire button with safety button, turn on/off flashlight, laser sight, swap the video cameras.

– Autonomous Control
Auto Aim Mode from RGB selection colors (pitch and yaw) still can control the wheel by manual
Lock-On Mode that will let robot autonomous control the wheels, It will reading the target distance and keep it in range, if the target is too far it will move forward or if it too close it will move backward, or even target disappear on the right or left side it will automatic spinning their wheel to search the target as you can see on the video.

– Hardware

Communication : 2x Xbee Pro Serries 2.5 60mW 2.4GHz with 5dBi antenna
Wireless Video Transmitter: 2W 2.4GHz Analog Module with EasyCap USB video converter
Microcontroller : 1x Arduino Mega and 2x of Arduino with serial communication together
Wheel Motor & Drive: 2x of 250W bicycle motors, 418A FET speed control with H-bridge Relay
Airsoft Gun Trigger : RC Servo
Batteries: lead acid – 2x 7.5A 12V series together for 24V main power, 6V 5A for microntroller and sensor, 12V 2A for video transmitter, all fully regulated and auto power source swapping when some of batteries run out.

On the High-Level Detail

this project done on 7 months period with 2 men working on it, we start with CAD/CAM computer design some parts done by CNC machine but most of it done by our hand. We have two camera on the robot with one transmitter it can swap by relay circuit the front camera send the video back to receiver and convert the video analog signal to computer by using EasyCap USB converter. i done the high-level program on Processing the RGB image processing core using Jmyron library, Graphic User Interface done by controlP5 and USB joystick connection done by proCONTROLL library. image processing on Jmyron library gave me very impressive but still not aim the right target when it has two object or some noise, so i done it by sort all object that detected to find the biggest RGB color selection target area by that way the robot could select the big one first. The Robot also can convert the object size to distance by math function i done it by collecting the data of object size that change by distance and using Eureqa to discover it, well i successfully done the robot range finder by single camera but you need to know and specify the target size on GUI panel. by this way we can got X,Y position from original image processing and got Z (distance) by range finder so i using the target range information to compensate the auto aim mode, and distance keeper on Lock-On mode. to make the robot keep tracking the RGB selection object it simple done by classic PID algorithm but i use only P control it enough for Lock-On mode only implement the soft-start on P Control that not made the robot look too aggressive when it start/stop moving. We send data to control the robot via Xbee module that simply as serial communication i written the code for encoding the ASCII command with package header to tell what the robot need to do.

On the Low-Level Detail
I use Arduino Mega connect directly to Xbee on first serial port and two of Arduino boards connect to Serial1 and Serial2 for pitch and yaw control. by this way Arduino Mega is main microcontroller it will receive package command from Xbee and if command for wheels control, swapping video, fire command, on/off laser it will processing inside the Arduino Mega and sending signal output to control the hardware. if it command to control pitch or yaw angle it will forward the package to Arduino 1 or 2 by Serial1 and 2. On the arduino board it will processing the package return to integer that tell them self which angle that it will move for by PID algorithm again i use only P control that all enough for error on 0.2 degree it could not reduce anymore by limitation of hardware. the pitch and yaw control system using potentiometer that attach on the robot arm to feedback the position.

*** PS as you can see the little red wire on auto mode testing, it wire for transfer AV video signal, becuase i have problem with cheap Analog 2.4 GHz video transmitter that very noisy that cause the image processing as wrong result on sometimes. the wireless video has been interfere by Xbee device and around with strong signal WiFi Access point that use the same 2.4 GHz frequency. for the best result testing on laboratory and easy way to solve the problem, so i wire it up. for fix this problem may be replace the video transmitter to 5.8 GHz digital, but for me it very hard to find and very expensive.

Souce Code:
arduino_pitch
arduino_yaw
arduino_mega
GUI_Image_Processing

please feel free to post comment, thank for reading.

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About nontexpress

one idea change the world
This entry was posted in Robots, Wireless Control and tagged , , , . Bookmark the permalink.

41 Responses to Wireless Control Airsoft Gun Colors Tracking Robot

  1. Pingback: Tank drone with automatic targeting and tracking - Hack a Day

  2. sadffffff says:

    any more information about the mechanical hardware? how was the frame done? where did you get treads? what motors are behind the turning and tilting?

  3. jack says:

    can i buy one?

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  5. Mil says:

    I am building a R/C AC-130 Specter Gunship. It will have a 100 inch wingspan. I have three electric Air soft and one paintball gun to intimate the 105mm Howitzer. I have disassembled them and started cutting off the extra stuff. I have been setting up the build for the aircraft. I can build the plane but only know a little about electronics. I can machine most parts I need so that is not a problem. At this point I am stuck with servos and brackets to control the movement of the air soft guns. If the persons who built this R/C Tank would be interested in working together to set up a system for my project, please let me know. If you are wandering what I’m making, Google AC-130 Specter Gunship. I guy I work with told me it could not be made in to a R/C Plane, so of course I said I could build it. I have everything covered but if I put a system like yours in it would be over the top.

    Thanks,
    Mil

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  7. Nont says:


    sadffffff:

    any more information about the mechanical hardware? how was the frame done? where did you get treads? what motors are behind the turning and tilting?

    i add more wheel picture, for pan and tilt it already assembly it very hard to disassemble again for taking picture, i try to find old picture but not found yet

  8. Nont says:


    jack:

    can i buy one?

    I build only one, It too heavy around 50 kg. i think it might be very expensive to shipping oversea. my purpose not for sale and it sill not stable enough, i will consider in too many people like to buy, i may redesign for lightweight for airsoft player market and for fun only not for real killer. i spend around $1500 for build this prototype

  9. Nont says:


    Mil:

    I am building a R/C AC-130 Specter Gunship. It will have a 100 inch wingspan. I have three electric Air soft and one paintball gun to intimate the 105mm Howitzer. I have disassembled them and started cutting off the extra stuff. I have been setting up the build for the aircraft. I can build the plane but only know a little about electronics. I can machine most parts I need so that is not a problem. At this point I am stuck with servos and brackets to control the movement of the air soft guns. If the persons who built this R/C Tank would be interested in working together to set up a system for my project, please let me know. If you are wandering what I’m making, Google AC-130 Specter Gunship. I guy I work with told me it could not be made in to a R/C Plane, so of course I said I could build it. I have everything covered but if I put a system like yours in it would be over the top.
    Thanks,
    Mil

    Hello, sound very interesting. i like too see when it finish. I like to help you build it, but i stay here in Bangkok Thailand i can’t keep in touch if you have some hardware problem. i could help you via internet by look up or planing you system writing some code on my free time. email me at: nontexpress [at] gmail [dot] com

  10. NameBobo says:

    Sure, why not send all your work to a stranger using a g-mail address willing to “help”? How much of the video is staged?

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  15. Fahad says:

    Hi Sadfffffff
    I am in going towards my final year in mechatronics engineering and would love to make that project, I have looked in to your details and it is a great help, but can I possibly get some more in depth information and circuits design? Or even the log book if you still have one? I have been looking for a subject to project and now I have decided to do this, it’s totally amazing 🙂
    Thanks very much for all your great help.
    Regards
    Fahad

  16. Nont says:

    Hi Fahad
    i don’t have full circuit schematic link becuase it too complex on wiring and a lot of work i need to done before deadline during on building time that i too busy to complete it. sorry for that. any help please let me know

  17. Fahad says:

    ok no problem 🙂 can you please let me know how many circuits your project consisted of and what did each circuit do? am sorry to ask you too many questions but I would like to fully understand the application of each circuit. I believe that you have included all the programming that you did for this project in the source code link?

    Thanks very much for your help 🙂
    Regards
    Fahad

  18. Nont says:

    Yes, include all program in my source code like, i have 4 motors drive board which use pwm and direction port to control, 2 for gun movement, and 2 for each wheel, and one circuit to drive relay to on-off laser sight, flashlight swap the camera.

  19. Fahad says:

    Thanks very much Nont, you’ve been a great help and i will come back asking more questions if i need more information 🙂 thanks very much
    Regards

  20. Fahad says:

    Hi Nont
    sorry to take your time but i have made a list of the things that i have to buy for this project and i want to send you that list so you can check it as i dont want to buy the wrong things 🙂 so can you give me an email address so i can send you the list?
    Thanks very much for your help
    Regards

  21. Nont says:

    hi Fahad send me at nont-[at]msn[dot]com or nontexpress[at]gmail[dot]com, you ‘re welcome

  22. Fahad says:

    hi Nont
    i have send the file with my email to both email addresses, thanks for your help
    Regards

  23. Nont says:

    Yep, i got you email and already reply.

  24. vinay says:

    hi Nont,
    i am intrested in this project and i have sponserer for this project..
    I need your help and guidence…i have your mail ID(gmail) one will in touch with you..
    jainvinay212@gmail.com Is my email ID…

  25. Nont says:

    hi vinay,
    please email me at : nont-[at]msn[dot]com this account will more frequent check.

  26. vinay says:

    i mailed you…waiting for your reply

  27. Nont says:

    Since August 2010, i will not reply any information via email, becuase several peoples like to do this project and i got a lot of duplicate questions. The idea now i would like to invite anybody that interested this project and want to build it, or still working on it post the question in the comment form, that will help and share know how to other peoples. every work detail that i still left will be upload to website on next update.

    Regards.
    Nont

  28. vinay says:

    I can understand,but we cant do this project without your help i wont take your long time and wont keep you down..i try everything but i got little..actually i am not studying in college which not good and frankly say then our sir is not good too enough to give us guidance…
    I request you…
    i mailed you just few min before this comment…
    Try to help us will be very thank full to you
    🙂
    Regards,
    Vinay jain

  29. Nont says:

    Hello vinay, i will always help anyone who want to build it, but i would like to reply via comment that the other people can read, if you have some info that you can’t post feel free to email me.

    Regards.

  30. Hey Nont i am interested in making this project for my final year.what i would like to know is that as i am technically not very sound in programming so is it a good option for me to go forward with this project…….what actually i want u to answer is that is this a very complicated project..

  31. hey bro its being 2 weeks…u have not yet replied…..plz help me out i am desperate to make this as my final yr project…plz……

  32. can we atleast discuss the details thru email…….

  33. Nont says:

    Hello, Himanshu Masani

    sorry i was busy in my another project if i did not reply please feel free to email to me. many thing you need to consider how many people in your team and time that you have. not too much in programing the image processing call off from library. not only programing that you need but all like circuit design, mechanical skill in integrated the whole system. i can only advice but you and your team need to figure out.

  34. fran says:

    ta hello, introduce myself my name is French and I’m from Spain and would be interested in your project, I’m airsoft player and I feel great your machine a greeting and I hope your answers.

  35. Terry says:

    I sent you an email about get info from you. I decided to make one just like yours. So any info you send I’ll appreciate.

  36. Pingback: Arduino Wireless Robot « Julio Della Flora

  37. pritam says:

    hey your project is nice.I like your project i see your project videos .I am intrested in this project so can you guide me about this project because your account is suspended so please send your project synopsis to my email id . i want to build same project…….
    pritam_borate@yahoo.com

  38. hey you didnt send your project synopsis please send it fast… on my mail id
    pritam_borate@yahoo.com

  39. Joslyn James says:

    These projects you have been working on are fascinating! I really enjoy seeing technology at its finest and the incorporation of airsoft rifles!

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