Raspberry Pi Based Multifunctional Robot

This is a Raspberry Pi - GrovePi based multifunctional robot. The codes enable various fuctions.

Used parts:

• Rasperry Pi 3 model B+
• Raspberry Pi Camera Noir
• GrovePi hat
• Grove sensors:
• gesture sensor
• DHT11 sensor
• light sensor
• IR sensor (2pc)
• rotary angle sensor
• ultrasonic sensor
• Grove servo
• Grove RGB backlight
• Grove button
• Gorve buzzer
• 28BYJ-48 5V stepper motor (2pc)
• ULN2003 stepper motor driver (2pc)
• policarbonate mounting bords (2pc)
• 3D printed elements (mounting boards, sensor holders, wheel supprots, wheels, gripper elements)
• wires, screws, spacers etc.

The wiring of the robot can be seen here.

The frame of the robot is built of 3D printed and prefabricated horizontal plates and metal spacers as vertical elements. The geometry of the 3D printed elements is designed according to the standard fixing points of the sensor modules, the stepper motors, the motor drivers and the camera. A Grove servo was used for the little gripper. Two 28BYJ-48 stepper motors with ULN2003 drivers were used for the wheels. The stepper motors enables the smooth, nearly soundless movement of the wheels.

Several codes were written to run the robot. Selection is possible by the function selector potmeter and the button at the top. The provided functions:

• test function (checking all sensors and actuators)
• autonomuos running mode (obstacle avoidance with ultrasonic sensor)
• remote camera controlled mode (by webpage and camera module)
• line following function (by IR sensors)
• gesture sensor controlled robot mode (by gesture sensor)

To each above function a python code was made, and a master code was written, that is automatically run the menu program at boot for selecting the wished code.

There are numerous further option to be coded in the future.

The test function is just a useful tool to see if everithing is working fine.

In case of the remote camera controlled mode, the robot is connecting to the local Wifi network, and can be controlled on a website by web buttons.

The gesture sensor controlled code is demonstrated by a video too:

https://youtu.be/4mtFZMlgF_Y

The line following function is demonstrated by these images.