夜雨聆风感谢 CSDN 作者：Darth Nihilus，辛苦写的教程，供新人及树莓派爱好者学习使用！
关于 PicoClaw
PicoClaw: 基于Go语言的超高效 AI 助手
🦐 PicoClaw 是一个受 nanobot 启发的超轻量级个人 AI 助手。它采用 Go 语言 从零重构，经历了一个"自举"过程——即由 AI Agent 自身驱动了整个架构迁移和代码优化。
⚡️ 极致轻量：可在 10 美元 的硬件上运行，内存占用不到 10MB。这意味着比 OpenClaw 节省 99% 的内存，比 Mac mini 便宜 98%！
主要特性
🪶 超轻量级：内存占用不到 10MB — 比同类产品小 99%
💰 极低成本：可在 $10 硬件上运行 — 比 Mac mini 便宜 98%
⚡️ 闪电启动：启动速度快 400 倍，即使在 0.6GHz 单核上也能 1 秒内启动
🌍 真正可移植：跨 RISC-V、ARM64 和 x86_64 的单二进制文件
🤖 AI 自举：95% 核心代码由 AI Agent 生成，经人机回环微调
💬 多通道支持：支持 Telegram、Discord、Slack、钉钉、飞书、企业微信、LINE、QQ 等
对比
OpenClaw | NanoBot | PicoClaw | |
语言 | TypeScript | Python | Go |
RAM | 超过1GB | 超过100MB | 不到10MB |
启动时间 (0.8GHz) | 超过500s | 超过30s | 不到1s |
成本 | Mac Mini $599 | ~$50 Linux 开发板 | 任意 Linux 开发板，低至 $10 |
架构图
以上内容源自PicoClaw官方Github仓库：https://github.com/sipeed/picoclaw
更多内容可以参考PicoClaw官方网站：https://picoclaw.io/
树莓派CM0 Dev Kit 安装 PicoClaw
操作系统选择
Raspberry Pi OS(Desktop) 64-bit-trixie (Debian 13)：
https://downloads.raspberrypi.com/raspios_arm64/images/raspios_arm64-2025-10-02/2025-10-01-raspios-trixie-arm64.img.xz
是否可以配置PicoClaw：已验证
Raspberry Pi OS(Lite) 64-bit-trixie (Debian 13)
https://downloads.raspberrypi.com/raspios_lite_arm64/images/raspios_lite_arm64-2025-10-02/2025-10-01-raspios-trixie-arm64-lite.img.xz
是否可以配置PicoClaw：已验证
Raspberry Pi OS(Desktop) 32-bit-trixie (Debian 13)
https://downloads.raspberrypi.com/raspios_armhf/images/raspios_armhf-2025-10-02/2025-10-01-raspios-trixie-armhf.img.xz
是否可以配置PicoClaw：未验证
Raspberry Pi OS(Lite) 32-bit-trixie (Debian 13)
https://downloads.raspberrypi.com/raspios_lite_armhf/images/raspios_lite_armhf-2025-10-02/2025-10-01-raspios-trixie-armhf-lite.img.xz
是否可以配置PicoClaw：未验证
预编译二进制文件选择
从 Releases 页面 下载最新版本。所有版本打包为 .tar.gz（Linux/macOS/FreeBSD）或 .zip（Windows）。
平台 | 架构 | 下载 |
🐧 Linux | x86_64 | picoclaw_Linux_x86_64.tar.gz |
🐧 Linux | ARM64 | picoclaw_Linux_arm64.tar.gz |
🐧 Linux | ARMv6（32 位） | picoclaw_Linux_armv6.tar.gz |
🐧 Linux | RISC-V 64 | picoclaw_Linux_riscv64.tar.gz |
🐧 Linux | LoongArch64 | picoclaw_Linux_loong64.tar.gz |
🍎 macOS | ARM64 (Apple Silicon) | picoclaw_Darwin_arm64.tar.gz |
🍎 macOS | x86_64 | picoclaw_Darwin_x86_64.tar.gz |
🪟 Windows | x86_64 | picoclaw_Windows_x86_64.zip |
🪟 Windows | ARM64 | picoclaw_Windows_arm64.zip |
😈 FreeBSD | x86_64 | picoclaw_Freebsd_x86_64.tar.gz |
😈 FreeBSD | ARM64 | picoclaw_Freebsd_arm64.tar.gz |
😈 FreeBSD | ARMv6 | picoclaw_Freebsd_armv6.tar.gz |
一键安装 PicoClaw
wget https://github.com/sipeed/picoclaw/releases/latest/download/picoclaw_Linux_arm64.tar.gztar -xzf picoclaw_Linux_arm64.tar.gz./picoclaw onboard██████╗ ██╗ ██████╗ ██████╗ ██████╗██╗ █████╗ ██╗ ██╗██╔══██╗██║██╔════╝██╔═══██╗██╔════╝██║ ██╔══██╗██║ ██║██████╔╝██║██║ ██║ ██║██║ ██║ ███████║██║ █╗ ██║██╔═══╝ ██║██║ ██║ ██║██║ ██║ ██╔══██║██║███╗██║██║ ██║╚██████╗╚██████╔╝╚██████╗███████╗██║ ██║╚███╔███╔╝╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═════╝╚══════╝╚═╝ ╚═╝ ╚══╝╚══╝Config already exists at /home/picoclaw/.picoclaw/config.jsonOverwrite? (y/n):
显示上述内容即为安装成功。
树莓派CM0 Dev Kit配置 PicoClaw
工作区布局
PicoClaw 将数据存储在工作区中（默认：~/.picoclaw/workspace）：
~/.picoclaw/workspace/├── sessions/ # 对话会话和历史├── memory/ # 长期记忆 (MEMORY.md)├── state/ # 持久化状态 (最后一次频道等)├── cron/ # 定时任务数据库├── skills/ # 自定义技能├── AGENTS.md # Agent 行为指南├── HEARTBEAT.md # 周期性任务提示词 (每 30 分钟检查一次)├── IDENTITY.md # Agent 身份设定├── SOUL.md # Agent 灵魂/性格└── USER.md # 用户偏好
模型配置
sudo nano .picoclaw/config.json#修改下述内容"model_list": [{"model_name": "ark-code-latest","model": "volcengine/ark-code-latest","api_key": "sk-your-volcengine-key"},{"model_name": "gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-your-openai-key","api_base": "https://api.openai.com/v1"},{"model_name": "claude-sonnet-4.6","model": "anthropic/claude-sonnet-4.6","api_key": "sk-ant-your-key","api_base": "https://api.anthropic.com/v1"},{"model_name": "gemini","model": "antigravity/gemini-2.0-flash","auth_method": "oauth"},{"model_name": "deepseek","model": "deepseek/deepseek-chat","api_key": "sk-your-deepseek-key"},{"model_name": "loadbalanced-gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-key1","api_base": "https://api1.example.com/v1"},{"model_name": "loadbalanced-gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-key2","api_base": "https://api2.example.com/v1"}],
模型条目字段
字段 | 类型 | 必填 | 说明 |
model_name | string | 是 | 别名（在 agents.defaults.model_name 中引用） |
model | string | 是 | vendor/model-id 格式 |
api_key | string | 视情况 | 提供商 API Key |
api_base | string | 否 | 覆盖默认 API 地址 |
auth_method | string | 否 | 认证方式（如 oauth） |
proxy | string | 否 | 该模型 API 调用的 HTTP/SOCKS 代理 |
request_timeout | int | 否 | 请求超时时间（秒），默认 120 |
rpm | int | 否 | 速率限制 — 每分钟请求数 |
聊天通道配置
sudo nano .picoclaw/config.json#修改下述内容"channels": {"telegram": {"enabled": false,"token": "YOUR_TELEGRAM_BOT_TOKEN","base_url": "","proxy": "","allow_from": ["YOUR_USER_ID"],"reasoning_channel_id": ""},"discord": {"enabled": false,"token": "YOUR_DISCORD_BOT_TOKEN","proxy": "","allow_from": [],"group_trigger": {"mention_only": false},"reasoning_channel_id": ""},"qq": {"enabled": false,"app_id": "YOUR_QQ_APP_ID","app_secret": "YOUR_QQ_APP_SECRET","allow_from": [],"reasoning_channel_id": ""},"maixcam": {"enabled": false,"host": "0.0.0.0","port": 18790,"allow_from": [],"reasoning_channel_id": ""},"whatsapp": {"enabled": false,"bridge_url": "ws://localhost:3001","use_native": false,"session_store_path": "","allow_from": [],"reasoning_channel_id": ""},"feishu": {"enabled": false,"app_id": "","app_secret": "","encrypt_key": "","verification_token": "","allow_from": [],"reasoning_channel_id": ""},"dingtalk": {"enabled": false,"client_id": "YOUR_CLIENT_ID","client_secret": "YOUR_CLIENT_SECRET","allow_from": [],"reasoning_channel_id": ""},"slack": {"enabled": false,"bot_token": "xoxb-YOUR-BOT-TOKEN","app_token": "xapp-YOUR-APP-TOKEN","allow_from": [],"reasoning_channel_id": ""},"line": {"enabled": false,"channel_secret": "YOUR_LINE_CHANNEL_SECRET","channel_access_token": "YOUR_LINE_CHANNEL_ACCESS_TOKEN","webhook_path": "/webhook/line","allow_from": [],"reasoning_channel_id": ""},"onebot": {"enabled": false,"ws_url": "ws://127.0.0.1:3001","access_token": "","reconnect_interval": 5,"group_trigger_prefix": [],"allow_from": [],"reasoning_channel_id": ""},"wecom": {"enabled": false,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_url": "https://qyapi.weixin.qq.com/cgi-bin/webhook/send?key=YOUR_KEY","webhook_path": "/webhook/wecom","allow_from": [],"reply_timeout": 5,"reasoning_channel_id": ""},"wecom_app": {"enabled": false,"corp_id": "YOUR_CORP_ID","corp_secret": "YOUR_CORP_SECRET","agent_id": 1000002,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_path": "/webhook/wecom-app","allow_from": [],"reply_timeout": 5,"reasoning_channel_id": ""},"wecom_aibot": {"enabled": false,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_path": "/webhook/wecom-aibot","max_steps": 10,"welcome_message": "你好！我是你的 AI 助手，有什么可以帮你的吗？","reasoning_channel_id": ""},"matrix": {"enabled": false,"homeserver": "https://matrix.org","user_id": "@your-bot:matrix.org","access_token": "YOUR_MATRIX_ACCESS_TOKEN","device_id": "","join_on_invite": true,"allow_from": [],"group_trigger": {"mention_only": true},"placeholder": {"enabled": true,"text": "正在思考..."},"reasoning_channel_id": ""}},
工具配置
sudo nano .picoclaw/config.json#修改下述内容"tools": {"web": {"brave": {"enabled": false,"api_key": "YOUR_BRAVE_API_KEY","max_results": 5},"duckduckgo": {"enabled": true,"max_results": 5},"perplexity": {"enabled": false,"api_key": "pplx-xxx","max_results": 5},"proxy": ""},
MCP配置
sudo nano .picoclaw/config.json#修改下述内容"mcp": {"enabled": false,"servers": {"context7": {"enabled": false,"type": "http","url": "https://mcp.context7.com/mcp"},"filesystem": {"enabled": false,"command": "npx","args": ["-y", "@modelcontextprotocol/server-filesystem", "/tmp"]},"github": {"enabled": false,"command": "npx","args": ["-y", "@modelcontextprotocol/server-github"],"env": { "GITHUB_PERSONAL_ACCESS_TOKEN": "YOUR_TOKEN" }}}},
心跳任务配置
sudo nano .picoclaw/config.json#修改下述内容"heartbeat": {"enabled": true,"interval": 30},
Agent 会每隔 30 分钟读取文件，并使用可用工具执行其中的任务。
新建心跳任务
sudo nano .picoclaw/workspace/HEARTBEAT.md#添加心跳任务内容# 周期任务- 检查我的邮件中是否有重要消息- 查看日历中即将到来的日程- 查询今天的天气预报
安全沙箱
sudo nano .picoclaw/config.json#修改下述内容{"agents": {"defaults": {"workspace": "~/.picoclaw/workspace","restrict_to_workspace": true,"model_name": " ","max_tokens": 32768,"max_tool_iterations": 50}},
配置项 | 默认值 | 说明 |
workspace | ~/.picoclaw/workspace | Agent 的工作目录 |
restrict_to_workspace | true | 将文件/命令访问限制在工作目录内 |
allow_read_outside_workspace | false | 即使开启了限制，也允许读取工作目录以外的文件 |
完整配置参考
{"agents": {"defaults": {"workspace": "~/.picoclaw/workspace","restrict_to_workspace": true,"model_name": "gpt-5.4","max_tokens": 32768,"max_tool_iterations": 50}},"model_list": [{"model_name": "ark-code-latest","model": "volcengine/ark-code-latest","api_key": "sk-your-volcengine-key"},{"model_name": "gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-your-openai-key","api_base": "https://api.openai.com/v1"},{"model_name": "claude-sonnet-4.6","model": "anthropic/claude-sonnet-4.6","api_key": "sk-ant-your-key","api_base": "https://api.anthropic.com/v1"},{"model_name": "gemini","model": "antigravity/gemini-2.0-flash","auth_method": "oauth"},{"model_name": "deepseek","model": "deepseek/deepseek-chat","api_key": "sk-your-deepseek-key"},{"model_name": "loadbalanced-gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-key1","api_base": "https://api1.example.com/v1"},{"model_name": "loadbalanced-gpt-5.4","model": "openai/gpt-5.4","api_key": "sk-key2","api_base": "https://api2.example.com/v1"}],"channels": {"telegram": {"enabled": false,"token": "YOUR_TELEGRAM_BOT_TOKEN","base_url": "","proxy": "","allow_from": ["YOUR_USER_ID"],"reasoning_channel_id": ""},"discord": {"enabled": false,"token": "YOUR_DISCORD_BOT_TOKEN","proxy": "","allow_from": [],"group_trigger": {"mention_only": false},"reasoning_channel_id": ""},"qq": {"enabled": false,"app_id": "YOUR_QQ_APP_ID","app_secret": "YOUR_QQ_APP_SECRET","allow_from": [],"reasoning_channel_id": ""},"maixcam": {"enabled": false,"host": "0.0.0.0","port": 18790,"allow_from": [],"reasoning_channel_id": ""},"whatsapp": {"enabled": false,"bridge_url": "ws://localhost:3001","use_native": false,"session_store_path": "","allow_from": [],"reasoning_channel_id": ""},"feishu": {"enabled": false,"app_id": "","app_secret": "","encrypt_key": "","verification_token": "","allow_from": [],"reasoning_channel_id": ""},"dingtalk": {"enabled": false,"client_id": "YOUR_CLIENT_ID","client_secret": "YOUR_CLIENT_SECRET","allow_from": [],"reasoning_channel_id": ""},"slack": {"enabled": false,"bot_token": "xoxb-YOUR-BOT-TOKEN","app_token": "xapp-YOUR-APP-TOKEN","allow_from": [],"reasoning_channel_id": ""},"line": {"enabled": false,"channel_secret": "YOUR_LINE_CHANNEL_SECRET","channel_access_token": "YOUR_LINE_CHANNEL_ACCESS_TOKEN","webhook_path": "/webhook/line","allow_from": [],"reasoning_channel_id": ""},"onebot": {"enabled": false,"ws_url": "ws://127.0.0.1:3001","access_token": "","reconnect_interval": 5,"group_trigger_prefix": [],"allow_from": [],"reasoning_channel_id": ""},"wecom": {"enabled": false,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_url": "https://qyapi.weixin.qq.com/cgi-bin/webhook/send?key=YOUR_KEY","webhook_path": "/webhook/wecom","allow_from": [],"reply_timeout": 5,"reasoning_channel_id": ""},"wecom_app": {"enabled": false,"corp_id": "YOUR_CORP_ID","corp_secret": "YOUR_CORP_SECRET","agent_id": 1000002,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_path": "/webhook/wecom-app","allow_from": [],"reply_timeout": 5,"reasoning_channel_id": ""},"wecom_aibot": {"enabled": false,"token": "YOUR_TOKEN","encoding_aes_key": "YOUR_43_CHAR_ENCODING_AES_KEY","webhook_path": "/webhook/wecom-aibot","max_steps": 10,"welcome_message": "你好！我是你的 AI 助手，有什么可以帮你的吗？","reasoning_channel_id": ""},"matrix": {"enabled": false,"homeserver": "https://matrix.org","user_id": "@your-bot:matrix.org","access_token": "YOUR_MATRIX_ACCESS_TOKEN","device_id": "","join_on_invite": true,"allow_from": [],"group_trigger": {"mention_only": true},"placeholder": {"enabled": true,"text": "正在思考..."},"reasoning_channel_id": ""}},"tools": {"web": {"brave": {"enabled": false,"api_key": "YOUR_BRAVE_API_KEY","max_results": 5},"duckduckgo": {"enabled": true,"max_results": 5},"perplexity": {"enabled": false,"api_key": "pplx-xxx","max_results": 5},"proxy": ""},"mcp": {"enabled": false,"servers": {"context7": {"enabled": false,"type": "http","url": "https://mcp.context7.com/mcp"},"filesystem": {"enabled": false,"command": "npx","args": ["-y", "@modelcontextprotocol/server-filesystem", "/tmp"]},"github": {"enabled": false,"command": "npx","args": ["-y", "@modelcontextprotocol/server-github"],"env": { "GITHUB_PERSONAL_ACCESS_TOKEN": "YOUR_TOKEN" }}}},"cron": {"exec_timeout_minutes": 5},"exec": {"enable_deny_patterns": true,"custom_deny_patterns": [],"custom_allow_patterns": []},"skills": {"registries": {"clawhub": {"enabled": true,"base_url": "https://clawhub.ai","search_path": "/api/v1/search","skills_path": "/api/v1/skills","download_path": "/api/v1/download"}}}},"heartbeat": {"enabled": true,"interval": 30},"devices": {"enabled": false,"monitor_usb": true},"gateway": {"host": "127.0.0.1","port": 18790}}
字段说明
agents.defaults
routing
字段 | 类型 | 默认值 | 说明 |
enabled | bool | false | 启用智能模型路由 |
light_model | string | — | 用于简单任务的模型名（需在 model_list 中存在） |
threshold | float | — | 复杂度评分阈值 [0,1]；评分 >= 阈值使用主模型，低于阈值使用 light_model |
启用后，PicoClaw 会根据消息的结构特征（长度、代码块、工具调用历史、对话深度、附件）对每条消息评分，将简单消息路由到更轻量/低成本的模型。
model_list[]
gateway
字段 | 类型 | 默认值 | 说明 |
host | string | 127.0.0.1 | 网关监听地址 |
port | int | 18790 | 网关监听端口 |
通用渠道字段
所有渠道均支持以下字段：
group_trigger
字段 | 类型 | 说明 |
mention_only | bool | 仅在群聊中被 @ 时响应 |
prefixes | array | 群聊中触发机器人的关键词前缀 |
placeholder
字段 | 类型 | 说明 |
enabled | bool | 启用占位消息 |
text | string | 处理期间显示的占位文本（如"正在思考…"） |
支持的通道：飞书、Slack、Matrix。
typing
字段 | 类型 | 说明 |
enabled | bool | 处理期间显示"正在输入"状态 |
支持的通道：Slack、Matrix。
树莓派CM0 Dev Kit 使用 PicoClaw
命令 | 描述 |
picoclaw onboard | 初始化配置和工作目录 |
picoclaw agent -m “…” | 单次对话 |
picoclaw agent | 交互式对话模式 |
picoclaw gateway | 启动网关（用于聊天应用） |
picoclaw status | 显示状态 |
picoclaw cron list | 列出所有定时任务 |
picoclaw cron add … | 添加定时任务 |
树莓派CM0 Dev Kit 使用 PicoClaw WEB管理
树莓派CM0 Dev Kit 输入；
./picoclaw-launcher -public██████╗ ██╗ ██████╗ ██████╗ ██████╗██╗ █████╗ ██╗ ██╗██╔══██╗██║██╔════╝██╔═══██╗██╔════╝██║ ██╔══██╗██║ ██║██████╔╝██║██║ ██║ ██║██║ ██║ ███████║██║ █╗ ██║██╔═══╝ ██║██║ ██║ ██║██║ ██║ ██╔══██║██║███╗██║██║ ██║╚██████╗╚██████╔╝╚██████╗███████╗██║ ██║╚███╔███╔╝╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═════╝╚══════╝╚═╝ ╚═╝ ╚══╝╚══╝Open the following URL in your browser:>> http://localhost:18800 <<>> http://192.168.2.200:18800 <<2026/03/17 00:00:00 Started picoclaw gateway (PID: 2291) from /home/picoclaw/picoclaw_Linux_arm64/picoclaw2026/03/17 00:00:00 Gateway auto-started (PID: 2291)
浏览器中输入“http://IP:18800”，如下图所示即为成功。
树莓派CM0 Dev Kit 使用 PicoClaw QQ 管理
树莓派CM0 Dev Kit 输入；
./picoclaw gateway██████╗ ██╗ ██████╗ ██████╗ ██████╗██╗ █████╗ ██╗ ██╗██╔══██╗██║██╔════╝██╔═══██╗██╔════╝██║ ██╔══██╗██║ ██║██████╔╝██║██║ ██║ ██║██║ ██║ ███████║██║ █╗ ██║██╔═══╝ ██║██║ ██║ ██║██║ ██║ ██╔══██║██║███╗██║██║ ██║╚██████╗╚██████╔╝╚██████╗███████╗██║ ██║╚███╔███╔╝╚═╝ ╚═╝ ╚═════╝ ╚═════╝ ╚═════╝╚══════╝╚═╝ ╚═╝ ╚══╝╚══╝2026/03/17 00:00:00 [2026-03-17T00:00:00Z] [INFO] agent: Created implicit main agent (no agents.list configured)📦 Agent Status:• Tools: 15 loaded• Skills: 6/6 available
在手机QQ中选择对应QQ机器人输入内容，如下图所示即为成功。
点击文章最底下的【原文链接】按钮，查看原文。
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树莓派 CM0 NANO + OpenClaw + 飞书：打造我的7x24小时 AI 秘书！
抛开 OpenClaw 炒作：谈谈我那套基于树莓派7×24小时自托管的AI代理团队！
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