The Construction and Application of a Pet Waste Collecting Drone Using STM32 for a Better Environment

A drone recognizes and follows the pet using a camera under the drone and has add-on abilities to recognize and pick up the pet’s feces or add a camera that connects over wifi. It uses an STM32 as the main control chip and an OpenMV camera to recognize shapes and colors. We used Apriltags to represent pets and their feces. In our test, 88% successfully followed the pet and recognized their waste, which shows that the system is fast and accurate.