Intelligent Tennis Picking Robot Based on STM32 and Raspberry Pi

The robot involves a smart tennis picking robot based on STM32 and Raspberry Pi. The mobile robot body is formed by sheet metal forming. The driving method is three-wheel independent driving, and three hollow cup DC servo motors are respectively controlled by three. An omnidirectional wheel. The robot is divided into a chassis motion control portion, a visual processing portion, and a tennis collection portion. The chassis control section is located at the bottom of the robot, including the servo drive, battery, main control board, HC05 Bluetooth module, two ultrasonic obstacle avoidance sensors and three hollow cup DC servo motors. The visual processing part consists of a raspberry pie and a camera. The tennis collection section includes a tennis collection structure and a storage box. The STM32 controller interacts with the servo drive via the CAN bus, enabling the robot to move omnidirectionally with zero radius of rotation. At the same time, the Raspberry-based Haar-based image recognition program and camera can accurately identify the tennis target position. Ingenious science solves the problem of time and labor for manual tennis picking. This paper introduces the overall mechanical structure of the robot, describes the mechanical structure of the chassis and tennis collection part and the advantages and reasons for selecting the robot control hardware. Starting from the image recognition part, the tennis recognition processing program combining Haar classifier and CamShift algorithm is described in detail by modularization. Finally, the advantages of the design product and the future development of other functions of the robot are summarized. Keywords—tennis picking; raspberry Pi; STM32; haar; CamShift