Design of an Autonomous Sentry Gun System for the Detection of People in Restricted Zones

A proper mechatronic system capable of neutralizing people entering unauthorized areas by firing a paintball gun is presented in this paper. The effective shooting range is 25 meters limited only by the range of the marker. The implemented system is capable of operating in different light conditions, at a maximum distance of 70 meters. The mechanism, together with the artificial vision system move in two axes: turn and tilt. Processing includes identification, tracking, pan tilt zooms control and automatic trigger activation control. The tests were carried out in a stadium, following the safety rules to avoid damage to the test subject. The shooting effectiveness is 80%.