ICRA DJI RoboMaster AI Challenge AI Robot 2019 User manual

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Using This Manual
Legend
Warning
Important
Hints and Tips
Reference
Convention
ICRA 2019 DJI RoboMaster™ AI Challenge AI Robot does not include the RoboMaster UWB
Positioning System Module, sensors like LiDAR or computing devices like Manifold 2. To use such
devices, please configure them separately. In addition, the DR16 Receiver in the remote controller kit
has been installed near the Development Board Type A of the Robot's Chassis Module and thus is not
provided separately.
Read Before First Use
Read the following documents before using the RoboMaster™ AI Robot:
1. ICRA 2019 DJI RoboMaster AI Challenge AI Robot In the Box
2. ICRA 2019 DJI RoboMaster AI Challenge AI Robot User Manual
3. DJI MATRICE 100 Intelligent Flight Battery Safety Guidelines
Meanwhile, RoboMaster has put instructions for various accessories (including motor and ESC) used
in the ICRA 2019 DJI RoboMaster AI Challenge AI Robot into an archive named "ICRA 2019 DJI
RoboMaster AI Challenge AI Robot Information Kit" for reference.
Check all of the included parts listed in the ICRA 2019 DJI RoboMaster AI Challenge AI Robot In the
Box document. Prepare for first use by reviewing this User Manual. For more documents for
developer, please refer to the "ICRA 2019 DJI RoboMaster AI Challenge AI Robot Information Kit".
Read the DJI MATRICE 100 Intelligent Flight Battery Safety Guidelines before use. For more technical
instruction, visit https://robomaster.com to download relevant documentation or contact RoboMaster.

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Disclaimer and Warning
Thank you for purchasing the ICRA 2019 DJI RoboMaster™AI Challenge AI Robot. Please read this
disclaimer carefully before using this product. By using this product, you hereby signify that you have
read and agreed to this disclaimer. Install and use this product in strict accordance with the User
Manual. SZ DJI TECHNOLOGY CO., LTD. (hereinafter referred to as "DJI") and its affiliated companies
assume no liability for damage(s) or injuries incurred directly or indirectly from using, installing or
modifying this product improperly, including but not limited to using non-designated accessories.
DJI™ and RoboMaster™ are trademarks or registered trademarks of DJI and its affiliates. Names of
products, brands, etc. appearing in this document are trademarks or registered trademarks of their
respective owner companies. This product, the manual, and the software and driver that are
compatible with the Referee System (RoboMaster Client, RoboMaster Assistant, RoboMaster Server
and DJI WIN driver) are copyrighted by DJI with all rights reserved. No parts of this product or
document shall be modified, reproduced or transmitted in any form without the prior written consent
or authorization of DJI. DJI reserves the right to final interpretation of this document and all its
related documents. All contents are subjected to the latest version of the manual.
Product Usage Precautions
The fast-moving chassis, the rotating friction wheel and the projectiles it fires can cause serious
damage and injury. Use with caution at all times.
1. DO NOT allow AI Robot to come into contact with any kind of liquid since it is not waterproof.
2. Before use, AI Robot must enter and pass the internal initialization procedure when powered on.
3. AI Robot that moves at high speed must be used in a wide and empty space. DO NOT hit AI
Robot against hard objects like wall at full speed.
4. DO NOT fire projectiles towards people. After adjusting the speed of launch, it is best to fire at a
box with cushioning materials such as cloth bag.
5. Turn off the friction wheel motor when projectile launching finishes, when AI Robot is not in use
for a long time, or when there is someone staying in front of the barrel.
6. Counter-shooting must be carried out in an enclosed area with a two-meter high fence and while
a skilled operator is present.
7. Empty projectiles in the Projectile Depot after each use.
8. Remove the battery and store it in accordance with the storage method described in the DJI
MATRICE 100 Intelligent Flight Battery Safety Guidelines when AI Robot is not in use for a long
time.
9. Use standard Intelligent Flight Battery (model: TB47D or TB48D).
10. Tighten each screw correctly. Since the blue glue used in screws is a disposable thread locker,
when repeatedly disassembling and assembling a robot, apply appropriate thread locker.
11. Fasten the two DOF of the gimbal and the four driving wheels of the chassis, remove the battery
and empty the Projectile Depot during transportation.

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If you have any problems you cannot resolve, please contact RoboMaster.

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Contents
Using This Manual ............................................................................................................................................1
Disclaimer and Warning ..................................................................................................................................2
Product Usage Precautions.............................................................................................................................2
1. Introduction...............................................................................................................................................1
2. Introduction and Usage of Hardware Module....................................................................................1
2.1 Introduction to Overall Hardware Feature...................................................................................1
2.2 Chassis .................................................................................................................................................3
2.3 Sensor Installation.............................................................................................................................4
2.4 Two-Axis Gimbal................................................................................................................................5
2.5 Projectile Supplying System............................................................................................................6
2.6 Launching Mechanism......................................................................................................................7
2.7 Referee System ..................................................................................................................................8
2.8 Hardware Circuit System..................................................................................................................9
3. Software System .....................................................................................................................................10
4. Intelligent Flight Battery .......................................................................................................................11
4.1 Powering On/Off .............................................................................................................................11
4.2 Checking the Battery Level............................................................................................................11

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4.3 Charging the Intelligent Flight Battery .......................................................................................12
4.4 Charging Protection LED Display .................................................................................................13
5. Remote Controller Kit ............................................................................................................................13
5.1 Overview............................................................................................................................................13
5.2 Remote Controller ...........................................................................................................................14
5.2.1 Powering On/Off the Remote Controller............................................................................14
5.2.2 Charging the Remote Controller ..........................................................................................15
5.3 Receiver .............................................................................................................................................15
Linking the Remote Controller and Receiver ....................................................................................16
6. Powering On and Operating the Robot .............................................................................................17
6.1 Installing and Removing the Battery...........................................................................................17
6.2 Powering On/Off the Robot..........................................................................................................17
6.3 Operation Mode ..............................................................................................................................17
Operating the Remote Controller........................................................................................................18
Appendix ..........................................................................................................................................................20
Specifications...............................................................................................................................................20
Parts List (Incomplete)...............................................................................................................................22

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1. Introduction
ICRA 2019 DJI RoboMaster AI Challenge AI Robot (hereinafter referred to as "Robot") consists of
chassis, two-axis gimbal, Launching Mechanism, Referee System and intelligent battery. Mecanum
wheels are used in the chassis for omnidirectional motion. The two-axis gimbal can complete two-
DOF rotation, enhancing the flexibility and resistance of the robot. The Launching Mechanism can fire
RoboMaster 17 mm standard projectiles. The Referee System has built-in sensors to detect the
damage value of the robot. When the robot's HP drops to 0, the Referee System automatically cuts off
the power and simulates the robot's death. Multiple Robots can have a shooting competition in a
specific area. The Robot is open to all hardware debugging interfaces except the Referee System, and
users are free to create a unique and fully automatic robot.
2. Introduction and Usage of Hardware Module
2.1 Introduction to Overall Hardware Feature

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1. Referee System - Speed
Monitor Module
2. Launching Mechanism
3. Two-Axis Gimbal
4. Supply System
5. Referee System - Light
Indicator Module
6. Propulsion Module
7. Referee System - Main
Controller Module
8. Referee System - Armor
9. Battery

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10. Referee System - RFID
Module
11. Referee System - Power
Management Module
12. Referee System -
Power Module
13. Development Board Type-A
14. Referee System - RFID
-
The following modules are not included in the sales list:
A. LiDAR
B. Camera
C. Tag for UWB Locating System
D. Manifold 2
E. Manifold 2 - USB HUB
F. Manifold 2-Power HUB
G. Manifold 2 - Gigabit Switch
-
-
2.2 Chassis
The chassis is a motion platform based on omnidirectional Mecanum wheels, which enables many
motion modes including forward, traverse, skew, rotation and combinations of these.
Robot uses the RoboMaster 3508 Gear Motor for four-wheel driving and integrates the C620 ESC into
the Propulsion Module. For motor's ESC technical specifications, please refer to the RoboMaster 3508
Gear Motor User Manual and the RoboMaster C620 Brushless DC Motor Speed Controller User
Manual in the Information Kit.

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2.3 Sensor Installation
Mounting hole for the sensor holder is reserved on the Yaw axis of the gimbal. You can design the
mounting bracket based on the dimensions of mounting hole shown below.
Mounting hole for the sensor holder is reserved on both the side (above the armor plate) and front of
the chassis. You can design the bracket based on the dimensions of mounting hole shown below.

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A. Mounting hole for side sensor
mounting bracket
B. Mounting hole for front sensor
mounting bracket
2.4 Two-Axis Gimbal
A two-axis gimbal is installed between the chassis and the Launching Mechanism. The pitching
direction is the Pitch axis and the yaw direction is the Yaw axis. Pitch axis motion range: -23° to +23°
(mechanical limit angle); Yaw axis motion range: ±92.5° (mechanical limit angle). The two-axis gimbal
uses mechanical limits to control the motion range, as shown in the figure below:

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1. Yaw-axis Motor
2. Yaw-axis Limit
3. Gimbal Chassis Connection
Fixture
4. Gimbal Chassis
Connection Fixture
5. Pitch-axis Limit
6. Pitch-axis Motor
Note: Separate the gimbal from the chassis by removing the four outer parts of the gimbal
connection fixture.
There are three connection cables between the gimbal and the chassis. The XT30 power cable is
connected to the Gimbal XT30 interface of the Referee System - Power Management Module.
The 4-pin CAN2 cable is connected to the CAN2 interface of the Development Board Type-A on
the chassis. The aerial line is connected to the aerial line interface of the Referee System - Power
Management Module.
The gimbal is driven by a DC power supply. The driving motor is RoboMaster GM6020 Brushless DC
Gear Motor and the ESC is integrated in the rear of the motor. For more technical specifications of the
motor and ESC, please refer to the RoboMaster GM6020 Motor User Guide in the Information Kit.
2.5 Projectile Supplying System
Robot supplies projectiles from its lower part. The Projectile Depot is separated from the Launching

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Mechanism, increasing the flexibility of the Launching Mechanism and the amount of projectile load.
The projectile load is over 200 projectiles, which fully meets the needs of the competition. After the
initial loading, you must wait for the Loading Mechanism to fill the Projectile Pipeline so that
projectiles can be fired from the barrel.
1. Projectile Pipeline
2. Projectile Depot
3. Loading Mechanism
4. Loading Motor
The loading motor is a combination of RoboMaster M2006 P36 Brushless DC Gear Motor and
RoboMaster C610 Brushless DC Motor Speed Controller. For more technical specifications of the
motor and ESC, please refer to the RoboMaster M2006 P36 Brushless DC Gear Motor User Guide and
the RoboMaster C610 Brushless DC Motor Speed Controller User Guide in the Information Kit.
2.6 Launching Mechanism
The Launching Mechanism works by using the rotation friction ball. The friction wheel is driven by
two reverse-rotating DC brushless motors. Projectile is subjected to the squeezing friction of the two
rotating friction wheels to obtain the kinetic energy for launching.

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1. Referee System - Speed
Monitor Module
2. Snail Motor and
Friction Wheel
3. Loading
Preset Switch
4. Pitch-axis
Motor
DO NOT point the barrel at people or animals during firing to prevent damage caused by high-
speed projectiles and lasers (if any).
The friction wheel driving motor is DJI Snail 2305 Racing Motor with the Snail 430-R Racing ESC. For
more technical specifications of the motor and ESC, please refer to the DJI Snail Racing Propulsion
System User Manual in the Information Kit.
2.7 Referee System
The Referee System is an electronic penalty system integrating computation, communication and
control and used for robotic competitions. The Referee System includes the onboard terminal
installed on the robot and the server and client software installed on the PC. The onboard terminal
includes the Main Controller Module, Power Management Module, Armor Module, Speed Monitor
Module and RFID Interaction Module. This system can detect the damage of robot and the speed and
frequency of launch. The server and client software record the real-time status of all robots,
automatically determine the outcome of the competition according to the competition rules and
send control order to robot to complete corresponding operations.
The server (RoboMaster Server) is the service center of the whole Referee System. It collects data
from all robots, Battlefield Components and the client side during the competition, visually presents
these data to referees and automatically determine the competition outcome.
For specifications of Referee System, please refer to the ICRA 2019 DJI RoboMaster AI Challenge
Referee System Specification Manual. For client installation, server setup and more details about
Referee System, please refer to the RoboMaster 2019 Referee System User Manual.

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To download the Referee System installation package (version 2019), visit:
https://www.robomaster.com/zh-CN/products/components/judge?index=1&position=58
To download the documents relevant to the Referee System, visit:
https://www.robomaster.com/en-US/resource/download
•The Speed Monitor Module is subject to the relevant information stated in ICRA 2019
DJI RoboMaster AI Challenge Referee System Specification Manual.
•The server installation package will be released on the RoboMaster official website in
early March 2019 at https://www.robomaster.com/zh-CN/resource/download. Please
stay tuned.
2.8 Hardware Circuit System
The hardware circuit system uses Robot CAN bus for communication. The resource allocation of the
main control board and the overall circuit topology diagram are as follows:
Note: Below is the wiring scheme of the official test prototype.

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The RoboMaster Main Controller Development Board is an open-source main controller board
designed for RoboMaster robots. It meets the control need of the entire robot and provides an open
interface for customizing robot system and developing other functions. For more technical
information of RoboMaster Development Board, please refer to the RoboMaster Main Controller
Development Board User Guide in the Information Kit or download it from RoboMaster website
https://robomaster.com.
3. Software System
To download documents related to the software system of Robot, visit:
https://github.com/RoboMaster/RoboRTS-Firmware;
https://github.com/RoboMaster/RoboRTS.

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4. Intelligent Flight Battery
The Intelligent Flight battery (model: TB48D or TB47D) is used by DJI MATRICE 100. It has a capacity
of 5700 mAh (for TB48D) or 4500 mAh (for TB47D), voltage of 22.2V and built-in smart charge-
discharge function. It can only be charged with an appropriate RoboMaster approved charger. Read
the DJI MATRICE 100 Intelligent Flight Battery Safety Guidelines before use.
4.1 Powering On/Off
Powering On: Press the Power Button once, then press again and hold for 2 seconds to power on.
The Battery Level Indicators will display the current battery level.
Powering Off: Press the Power Button once, then press again and hold for 2 seconds to power off.
4.2 Checking the Battery Level
The Battery Level Indicator shows how much battery capacity is remaining. When the battery is
powered off, press the Power Button once. The Battery Level Indicator will light up to display the
current battery level. See the table below for details.
The Battery Level Indicator will show the current battery level during charging and
discharging. Its LEDs can exhibit the following behavior.
LED is on.
LED is blinking.
LED is off.

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Battery Level Indicator
LED1
LED2
LED3
LED4
Battery Level
87.5%~100%
75%~87.5%
62.5%~75%
50%~62.5%
37.5%~50%
25%~37.5%
12.5%~25%
0%~12.5%
= 0%
4.3 Charging the Intelligent Flight Battery
The Intelligent Flight Battery must be fully charged before first-time use.
1. Connect the battery charger to a suitable power supply (100-240V, 50/60 Hz).
2. Open the protection cap and connect the Intelligent Flight Battery to the battery charger. If the
battery level is above 95%, turn on the battery before charging.
3. The Battery Level Indicator will display the current battery level during charging.
4. The Intelligent Flight Battery is fully charged when Battery Level Indicators are all off. Disconnect
the Intelligent Flight Battery from the battery charger.

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•It can only be charged with an appropriate RoboMaster official approved charger
(model: A14-100P1A).
•Air cool the Intelligent Flight Battery after each use. Allow its temperature to drop to
room temperature before charging.
•The charging temperature range is 0 to 40°C. The battery management system will stop
the battery from charging when the battery cell temperature is out of range.
4.4 Charging Protection LED Display
The table below describes the battery protection mechanisms and their corresponding LED patterns.
Battery Level Indicator While Charging
LED1
LED2
LED3
LED4
Indicators Pattern
Battery Protection Item
LED2 blinks twice per second
Overcurrent detected
LED2 blinks three times per second
Short circuit detected
LED3 blinks twice per second
Overcharge detected
LED3 blinks three times per second
Charger overvoltage detected
LED4 blinks twice per second
Charging temperature is too low
(<0℃)
LED4 blinks three times per second
Charging temperature is too high
(>40℃)
After any of the above protection issues are resolved, press the power button to turn off the Battery
Level Indicator. Unplug the Intelligent Flight Battery from the battery charger and plug it back in to
resume charging. Note that you do not need to unplug and plug the battery charger in the event of a
room temperature error; the battery charger will resume charging when the temperature falls within
the normal range.
5. Remote Controller Kit
5.1 Overview
The kit includes a remote controller and a receiver. The receiver is mounted near the Development
Board Type A of Robot's chassis. The link between the DT7 remote controller and the DR16 receiver
has already been established.

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5.2 Remote Controller
Robot uses the DJI Flight Remote Controller DT7. The DT7 remote controller is a wireless
communication device that uses the 2.4 GHz frequency band. It is only compatible with the DR16
receiver. It has a built-in LiPo battery, can continually run for about 12 hours and its communication
distance is up to 1,000 meters in an open area (you can control Robot to complete various actions on
the ground with a distance of up to 100 meters).
5.2.1 Powering On/Off the Remote Controller
Powering On: