Raspberry Pi Based Multifunctional Robot

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

Supplies

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.

Step 1: Wireing

The wiring of the robot can be seen here.

Step 2: Assembly

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.

Step 3: Functions

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.