RoboMaster AI Robot 2020 Standard Version User manual

RoboMaster AI Robot 2020 Standard
Version
User Manual
V2.0 2020.2
0

2
Table of Contents
Using this Manual..................................................................................................................................................................3
Disclaimer and Warnings......................................................................................................................................................4
Important notes for product usage........................................................................................................................................4
I. Introduction........................................................................................................................................................................5
II. Hardware Modules and Their Methods of Use...............................................................................................................5
III. Software System........................................................................................................................................................... 15
IV. Intelligent Battery ........................................................................................................................................................ 16
4.1 Powering On/Off .............................................................................................................................................. 16
4.2 Checking Battery Level.................................................................................................................................... 16
4.3 Battery Charging............................................................................................................................................... 17
V. Remote Controller Kit................................................................................................................................................... 18
VI. Robot Activation and Control..................................................................................................................................... 20
Partial List of Components ................................................................................................................................................ 26
Contact us........................................................................................................................................................... 27

3
Using this Manual
Legend
Prohibition
Important notes
Hints and tips
Definition and reference
The RoboMasterAI Robot 2020 Standard Version does not include sensors such as theRoboMaster UWB Positioning
System Module and LiDAR as well as relevant computing devices such as Manifold 2. Teams needing such devices
are required to configure them on their own.
The following documents are provided by RoboMaster to users:
1. “RoboMaster AI Robot 2020 Standard Version Items List”
2. “RoboMaster AI Robot 2020 Standard Version User Manual”
3. “M600-Series Intelligent Flight Battery User Safety Guidelines v1.0”
RoboMaster has consolidated the manuals for all the accessories (including the motor and ESC) used in the
RoboMaster 2020 AI robot into the compressed “RoboMaster 2020 AI Robot Document Pack” for the reference of
users.
Users are advised to first perform checks using the “RoboMaster AI Robot 2020 Standard Version Items List”
After that, users may familiarize themselves with the entire process of use by referring to the “RoboMaster AI
Robot 2020 Standard Version User Manual”. More developer documents can be found in the “RoboMaster 2020 AI
Robot Document Pack” compressed file. Kindly read the “M600-Series Intelligent Flight Battery User Safety
Guidelines v1.0” in detail before using an intelligent flight battery. For more information, visit
https://robomaster.com to download the relevant documentations or contact RoboMaster.
Declaration
Usage recommendations

4
Disclaimer and Warnings
Thank you forusingRoboMasterAI Robot 2020 Standard Version. Please read thisdisclaimer carefully before using this
product. By using this product, you acknowledge that you have read and agreed to all content herein. Please install and
use this productin strict accordance with the User Manual, product instructions, and relevant laws, regulations, rules and
policies. Users are responsible for their behavior and anyresulting consequences when using this product. DJI™ will not
bear any legal responsibilities for any losses caused by improper use, installation or modification.
DJI and Robomaster are the trademarks of Shenzhen DJI Sciences and Technologies Ltd., and itsaffiliated companies.
The product names, brands, etc., appearing in this document are the trademarks of the companies to which they
belong. The copyright of this product and manual belongs to DJI. No part of this product or manual may be
reproduced in any form without the consent of DJI.
The disclaimers are subject to the final interpretation of DJI.
Important notes for product usage
The high-speed moving chassis, high-speed rotating friction wheel and the projectiles launched by them may cause a
certain amount of personal injury and property damage. Please exercise caution during use.
The "notes" mentioned in this manual are important and should be strictly followed.
1. The robot is not waterproof. It must not come into contact with any liquid.
2. After it is powered on, the robot performs an internal self-check, and can only be operated after the self-check is
completed.
3. To move the AI robot at high speed, operate it in a spacious, unmanned area. The robot must not collide with hard
objects, such as walls, at full speed.
4. Projectiles must not be launched at people. After the projectile speed is adjusted, the optimal testing environment is to
launch it at a box with shock-absorbing materials such as cloth bags.
5. After projectiles have been launched and if the robot will not be used for a long time and personnel are present in
front of the muzzle, the friction wheel motor should be turned off to prevent any accidents.
6. Any shooting battle must be carried out in a sealed area with a two-meter high fence in the presence of a skilled operator.
7. After each use, projectiles must be emptied from the magazine to prevent any personal injury caused by improper
operation.
8. The battery must be removed during long periods of non-use and stored in accordance with the storage methods
described in the “M600-Series Intelligent Flight Battery User Safety Guidelines v1.0”
9. The standard intelligent battery must be used (battery model no.: TB47S).
10. When disassembling, the screws should be tightened using appropriate force. The blue gel used on the screws is a
disposable thread-locking fluid, which must be used in appropriate amounts for fastening the screws during
disassemblage.
11. During transportation, the gimbal must be fixed for two degrees of freedom and the chassis with four drive wheels. The
battery must also be removed and the magazine emptied.
If you experience any problems during use that cannot be solved, please contact RoboMaster for assistance.

5
I. Introduction
The RoboMaster AI Robot 2020 Standard Version is comprised of the Chassis Module, Expansion Module, Gimbal
Module, Launch Module and Referee System Module.
The robot’s Chassis Module includes a set of Mecanum wheels which provide omni-directional movement to the robot.
The robot’s Expansion Module is an expansion platform installed on the Chassis Module that can be equipped with
external controllers (e.g. MiniPC, Manifold, etc.) and sensors (e.g. cameras, LiDAR, etc.), and includes a set of bumpers
around the robot that effectively mitigate the impact of any collision on the robot and significantly enhance the robot’s
service life. The robot’s Gimbal Module is able to complete rotational movements in the pitch and yaw degrees of
freedom, which enhances the flexibility and battle ability of the robot. The robot’s Launch Module is able to launch
RoboMaster 17mm projectiles. The robot’s Referee System Module contains sensors that can detect the value of HP
deduction suffered by the robot, and the Referee System Module will automatically power off and simulate the robot’s
defeat when the robot’s HP has been reduced to zero. It can operate multiple robots on the designated site when engaging
in designed battles.
Open-source control programs and complete development documents should be provided for the robot to facilitate the
developer in carrying out secondary development. The use of USB, CAN and UART as external communication interfaces
is supported, as external controllers (e.g. MiniPC, Manifold, etc.) can be used more easily to control robots, as users will
thus have more flexibility and be able to create a unique and fully automated robot solution.
II. Hardware Modules and Methods of Use
2.1 Complete hardware functions

6

7
1. Referee System Speed Monitor
Module SM01
2. Launching Mechanism Module
3. 2-Axis Gimbal Module
4. Projectile Supply Module
5. Referee System Light Indicator
Module LI01
6. Power Module
7. Referee System Main Controller
Module MC02
8. Referee System Armor Module AM02
9. TB47S Battery
10. Referee System RFID Interaction
Module FI02
11. Referee System Power Management
Module PM01
12. RoboMaster Development Board Type
C

8
The following modules are not included in the sale list:
A. Camera
C. Referee System Positioning Module
UW01
E. Manifold 2 - USB HUB
G. Manifold 2 –Gigabit Switch
B. LiDAR
D. Manifold 2
F. Manifold 2 - Power Hub
2.2 Chassis
The robot’s chassis is a motion platform based on the omni-directional movement technology of Mecanum wheels,
which enables movements in multiple directions including forward, traversing, diagonal, rotational movements and their
combinations.
The Chassis Module powers four-wheel drive using the RoboMaster M3508 P19 Brushless DC Gear Motor. For the
technical specifications of the motor and the ESC, please see the “RoboMaster M3508 P19 Brushless DC Gear Motor
User Guide” and “RoboMaster C620 Brushless DC Motor Speed Controller User Guide” in the reference document
pack.

9
2.3 Installation of Sensors
Mounting holes for the sensor holder are available on the yaw axis of the gimbal. You can install the bracket based on
the following mounting hole arrangement.
Mounting holes for the sensor holder are available on both the side (above the armor plate) and front of the chassis. You
can install the bracket based on the following mounting hole arrangement.

10
A:Mounting hole for installing bracket of right sensor B: Mounting hole for installing bracket of front sensor
C:Mounting hole for installing bracket of left sensor
2.4 2-Axis Gimbal
A 2-axis gimbal is installed between the robot’s chassis and Launching Mechanism. The robot moves around the pitch
axis and the yaw axis.
Pitch axis motion range:±25°(mechanical limit of rotating angle).
Yaw axis motion range: ±90°(mechanical limit of rotating angle).
The 2-axis gimbal uses mechanical limits to control the motion range, as shown in the figure below:

11
1. Pitch-axis motor 2. Yaw-axis motor
3. Gimbal base fastening fixture 4. Yaw-axis mechanical limit
There are four connectors linking the 2-Axis Gimbal Module and Chassis Module. The XT30 power cable is
connected to the Gimbal XT30 interface of the Referee System Power Management Module. The 2-pin CAN
connector is linked to the CAN interface of the Development Board Type C on the chassis. The aerial connector is
linked to the aerial interface of the Referee System Power Management Module. The RoboMaster C610 Brushless
DC Motor Speed Controller is connected to the Ammo-Booster XT30 interface of the Referee System Power
Management Module.
The 2-Axis Gimbal Module is propelled by direct drive. The driving motor is the RoboMaster GM6020 Brushless
DC Motor, and the ESC is integrated in the motor. For the detailed technical specifications of the motor and ESC,
see the “RoboMaster GM6020 Brushless DC Motor User Guide” in the reference document pack.
2.5 Projectile Supply Module
The robot receives projectile supplies through the lower section. The magazine is separated from the Launching
Mechanism, to increase the flexibility of the Launching Mechanism and the projectile load. The projectile load is
about 300 rounds, which can be partially modified as required. After the initial loading, you must wait for the feed
sprocket to fill the pipeline so that projectiles can be fired from the muzzle.

12
1. Projectile-loading link 2. Magazine
3. Loading mechanism 4. Loading motor
The feed motor is the combination of the RoboMaster M2006 P36 Brushless DC Gear Motor and RoboMaster C610
Brushless DC Motor Speed Controller. For the detailed technical specifications of the motor and ESC, please see the
“RoboMaster M2006 P36 Brushless DC Gear Motor User Guide” and the “RoboMaster C610 Brushless DC MotorSpeed
Controller User Guide” in the reference document pack.
2.6 Launching Mechanism
The friction wheel is driven by two reverse-rotating DC brushless motors. During operation, the projectile is
subjected to the squeezing friction of the two rotating friction wheels to obtain the kinetic energy for launching.
1. Snail 2305 Brushless DC Motor 2. UV light panel
3、 Friction wheel 4. Referee System Speed Monitor Module SM01
Do not aim the muzzle at persons or animals during firing to prevent damage caused by high-speed projectiles and
lasers (if any).
The friction wheel-propelled motor is the RoboMaster Snail 2305 Brushless DC Motor equipped with the RoboMaster C615
BrushlessDC Motor Speed Controller.
2.7 Referee System
TheRefereeSystemisanelectronicpenaltysystemusedforroboticcompetitionsthatintegratescomputation,communication,
and control features. The Referee System includes the onboard terminal installed on the robot, as well as the serverand client
softwareinstalledonthePC.TheonboardterminalincludestheMainController,PowerManagement,Armor,SpeedMonitor,
andRFIDInteractionModules.Thissystemcandetectthedamage suffered bytherobotduringthe competitionandthespeed
and frequencyof projectile launching.You canuse the server and client software to viewthe real-time status of all robots and
automaticallydeterminetheoutcomeofthecompetitionaccordingtothecompetitionrules.Meanwhile,youcanusetheserver
and client software to instruct the robot to complete correspondingoperations.
The server (RoboMaster Server) is the service center of the Referee System. It collects data from all robots,
battlefield components, and clients during the competition, visually presents these data to the referees, and
automatically handles the identification logic to determine the competition outcome.
For the usage guidelines on the Referee System, please see the “DJI RoboMaster 2020 AI Challenge Referee System Manual”.
For instructions on how to install the client, construct the server, and other details about the Referee System, see the
“RoboMaster 2020 Referee System User Manual”.

13
To download the Referee SystemSoftware Installation Pack (2020Version) please visit:
https://www.robomaster.com/en-US/products/components/referee
To download the documents relevant to the Referee System, please visit:
https://www.robomaster.com/en-US/resource/download.
 The Speed Monitor Module is subject to the relevant information in the “DJI RoboMaster 2020
AI Challenge Referee System Specification Manual”.
 The server installation pack will be released later on RoboMaster’s official website:
https://www.robomaster.com/en-US/resource/download.
 Check in regularly for updates.
2.8 Hardware Circuit System
The robot hardware circuit system uses standard CAN bus communication. The overall circuit topology diagram is as
follows:

14
Note: The following configuration demonstrates the wiring diagram of the official test prototype.

15
The RoboMaster Development Board Type C is an open-source main control board designed for RoboMaster
robots. It meets the control needs of the whole robot and provides an open interface for users to customize robot
system functions and develop other functions. For detailed technical information on the RoboMaster Development
Board Type C, please see the “RoboMaster Development Board Type C User Guide” in the reference document
pack or visit https://robomaster.com to download the relevant documents.
III. Software System
Please download the relevant information on the robot’s
software system at the following address:
https://github.com/RoboMaster/RoboRTS-Firmware
https://github.com/RoboMaster/RoboRTS.

16
IV. Intelligent Battery
The intelligent battery (model: TB47S) is the smart flight battery used by DJI’s Matrice 600 drone. Its
capacity is 4500 mAh with a voltage of 22.2 V. It also comes with the charging and discharging function.
This battery adopts high-energy battery cells and uses an advanced battery management system to power the
robot. Always use the RoboMaster official charger to charge the robot Please read the “M600 -Series
Intelligent Flight Battery User Safety Guidelines v1.0” in detail before use.
4.1 Powering On/Off
To switch the intelligent battery on or off, short-press the power switch once and then press and hold the power switch
for more than two seconds. When the battery is on, the capacity indicator shows the current battery capacity. When
the battery is off, the indicator is off.
4.2 Checking Battery Level
To view the current capacity, short-press the power switch once when the battery is off.
The capacity indicator displays the power and life of the flight battery during charging and discharging.
The statuses of the indicator are defined as follows:
indicates that the LED indicator is on
indicates that the LED indicator is flashing
indicates that the LED indicator is
off
Battery Level LEDs
LED1
LED2
LED3
LED4
Current
capacity
87.5%-100%
75%-87.5%
POWER BUTTON

17
62.5%-75%
50%-62.5%
37.5%-50%
25%-37.5%
12.5%-25%
0%-12.5%
= 0%
4.3 Battery Charging
Be sure to fully charge the smart battery before using it for the first time.
1. Connect the charger to an AC power supply (100-240V, 50/60 Hz; use a power adapter if necessary).
2. When the battery is on or off, connect it to the charger. If the current capacity is greater than 95%, you must switch on
the battery before it can be charged.
3. During charging, the capacity indicator flashes and indicates the current capacity.
4. When the capacity indicator turns off, the battery is fully charged. In this case, disconnect the battery from the charger
to finish charging.
Use the RoboMaster designated special charger as the standard charger.
 The battery temperature becomes high after a period of use. In this case, you must wait for the battery to
drop to room temperature before charging it.
 The optimal charging temperature range for the battery is 0°C to 40°C. If the battery cell temperature is
beyond this range, the battery management system will disable charging.
4.4 Charging Protection Indicator
The battery LED indicator can display battery protection notifications triggered by abnormal charging conditions.

18
Charging indicator
LED1
LED2
LED3
LED4
Indicator status
Cause
LED2 indicator flashes
twice per second
Charging current is too high
LED2 indicator flashes
three times per second
A short circuit has occurred during charging
LED3 indicator flashes
twice per second
Battery voltage is too high due to overcharging
LED3 indicator flashes
three times per second
Charger voltage is too high
LED4 indicator flashes
twice per second
Charging temperature is too low
LED4 indicator flashes
three times per second
Charging temperature is too high
After fixing the issue (the charging current is too high, there is a short circuit, the battery voltage is too high due to
overcharging, or the charger voltage is too high), press the power button to cancel the LED indicator protection
notifications,and then unplug andplug the chargerin again to resume charging. If the charging temperatureisabnormal,
wait for the charging temperature to return to normal, and the battery will automatically resume charging without the
need to unplug and plug in the charger again.
V. Remote Controller Set
5.1 Description of Kit
The kit includes the remote controller and receiver. The receiver is installed next to the Development Board Type C on the
robot’s Chassis Module, and completes the frequency pairing between the remote controller and receiver.
5.2 Remote Controller
The robot uses the DJI Flight Remote Controller DT7. DT7 is a radio communication device operating in the 2.4 GHz
band. This remote controller can only work with the DR16 receiver. The maximum control range of the remote
controller is up to 1,000 meters in an open area (you can control

19
t he robot in completing various actions from the ground at a distance of up to 100 meters). The controller has a built-in
lithium battery with a maximum operating time up to 12 hours.
5.2.1 Powering On/Off
1. Toggle the S1 switch to the uppermost position and check that the two joysticks are in the middle.
2. Toggle the power switch to the right to power on the remote controller. Toggle the power switch to the left to power
off the remote controller.
3. When the remote controller is powered on, it emits a warning tone, and the power indicator becomes solid green and
a buzzer sounds.
5.2.2 Battery Charging
When charging the controller, connect the USB charger to the parameter adjustment port located at the lower end of the
remote controller using the supplied Micro USB cable. During charging, the power indicator is solid red and the
capacity indicator flashes green. When the charging is completed, both the power and capacity indicators are solid
green.

20
5.3 Receiver
The DR16 Receiver is a 16-channel receiver with an operating frequency of 2.4 GHz. It can work with the RoboMaster
DT7 Remote Controller.
Linking Between the Controller and the Receiver
The receiver is installed next to the Development Board Type C on the robot’s chassis. Linking between the
remote controller and the receiver is performed prior to factory shipping so that you can use them directly after
power-on. To link the controller with the receiver, complete the following steps:
1. Locate the linking hole on the right of the Development Board Type C on the chassis, where the receiver linking
button is located.
2. Power on the robot and check that the receiver is on. If no controller nearby has been powered on, the LED indicator
on the receiver is solid red.
3. Power on the remote controller to be linked and bring it close to the receiver until the receiver LED indicator flashes
green.
4. Press and hold the linking button on the receiver for two seconds. The receiver LED indicator flashes red during
pairing.
5. Release the linking button to finish linking. The receiver LED indicator should be solid green upon completion.