基于STM32的智能乒乓球拾取小车系统

Intelligent Car System for Picking Up Table Tennis Based on STM32

摘要: 本文针对乒乓球人工拾取效率低的问题，设计了一款智能拾取小车，以STM32单片机为主控，搭载OpenMV摄像头采集地面图像。通过阈值分割、轮廓检测与面积筛选，排除杂物干扰以识别乒乓球并定位，再将图像坐标转换为运动参数，经电机驱动小车转向、定位，配合机械夹完成拾取与暂存。本文详细介绍了硬件选型与电路连接(含主控、摄像头、电机驱动等模块)，软件采用模块化编程实现图像采集、识别定位及机构控制，同时优化识别算法以适配光照变化。最后在多球、有轻微杂物的场景下测试，验证小车的识别准确率、拾取成功率，分析环境对性能的影响。

Abstract: This paper addresses the low efficiency of manual table tennis ball collection and designs an intelligent picking vehicle, with the STM32 microcontroller as the main control unit, equipped with an OpenMV camera to capture ground images. By using threshold segmentation, contour detection, and area filtering, debris interference is eliminated to identify and locate the table tennis balls. The image coordinates are then converted into motion parameters, driving the vehicle to move and orient through motor control, while a mechanical clamp completes the picking and temporary storage. The paper details the hardware selection and circuit connections (including the main controller, camera, motor driver, and other modules). The software uses modular programming to implement image acquisition, recognition, positioning, and mechanism control while optimizing the recognition algorithm to adapt to lighting changes. Finally, tests were conducted in scenarios with multiple balls and slight debris, verifying the vehicle’s recognition accuracy and pick-up success rate and analyzing the impact of the environment on performance.