Intelligent Tennis Picking Robot Based on STM32 and Raspberry Pi

Abstract

The utility model relates to an intelligent tennis ball picking robot based on STM32 and Raspberry Pi, a robot body of the mobile robot is formed by combining metal plates, the adopted driving mode isthree-wheel independent driving, and three hollow cup direct-current servo motors respectively control three omnidirectional wheels. The robot is divided into a chassis motion control part, a visualprocessing part and a tennis ball collecting part. The chassis control part is located on the lowermost layer of the robot and comprises a servo driver, a battery, a main control panel, a Bluetooth module, two ultrasonic obstacle avoidance sensors and three hollow cup direct-current servo motors. The visual processing part is composed of Raspberry Pi and a camera. The tennis ball collecting part comprises a tennis ball collecting structure and a containing box. The robot is in a regular hexagon shape, and the included angles between the three omnidirectional wheels are 120 degrees. The STM32 controller carries out data interaction with the servo driver through a CAN bus. The robot can move in all directions, the rotating radius is zero, meanwhile, the tennis ball target position can be accurately recognized through an image recognition program and a camera of the Raspberry Pi based on the Haar cascade classifier, the whole patent design is ingenious and scientific, and the problem thatmanual tennis ball picking is time-consuming and labor-consuming is solved.