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ICRA DJI RoboMaster AI Challenge AI Robot 2019, Руководство пользователя

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5 

 

 

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: 

Содержание DJI RoboMaster AI Challenge AI Robot 2019

Страница 1: ......

Страница 2: ... 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 ...

Страница 3: ...ons 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 wid...

Страница 4: ...3 If you have any problems you cannot resolve please contact RoboMaster ...

Страница 5: ... 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 ...

Страница 6: ...ring 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 ...

Страница 7: ...he 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 Re...

Страница 8: ...ystem 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 ...

Страница 9: ...nifold 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 ...

Страница 10: ...f 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 ...

Страница 11: ... 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 ...

Страница 12: ...le 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 ...

Страница 13: ...s 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 b...

Страница 14: ...rminal 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 r...

Страница 15: ...ion 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 b...

Страница 16: ...ystem 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 gith...

Страница 17: ...ss 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 wi...

Страница 18: ...ttery 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 Dis...

Страница 19: ... 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 Batte...

Страница 20: ...z 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 ...

Страница 21: ...Push the Power Switch to the left to power off the remote controller 5 2 2 Charging the Remote Controller Charge the remote controller s battery by using the included micro USB cable 1 5 A Charging Current The Power LED Indicator is solid red and the Battery Level Indicator blinks green when charging If fully charged both the Power LED Indicator and Battery Level Indicator are solid green 5 3 Rece...

Страница 22: ... Indicator of the receiver is solid red 3 Power on the remote controller and bring it close to the receiver until the Power LED Indicator of the receiver blinks green 4 Press and hold the Link Button for two seconds The Power LED Indicator of the receiver blinks red during linking 5 Release the Link Button The Power LED Indicator of the receiver displays solid green once the remote controller succ...

Страница 23: ...ot as shown above The Power Switch is between the battery rack and the rear armor and fixed on the battery rack After powering on Robot will have an initialization during which the HP displayed on the Light Indicator of the Main Controller Module of the Referee System gradually increases from 0 to 90 If it passes the initialization the HP increases to 100 The remote controller is unavailable durin...

Страница 24: ...tion 3 it is in the automatic operation mode When S1 is in Position 1 or Position 2 it is in the manual operation mode Posiiton 1 means the chassis rotates along with the Yaw axis of the gimbal Posiiton 2 means the Yaw axis of the gimbal rotates along with the chassis Switch S2 changes the control state through the stick When toggle S2 from Position 2 to Position 1 the friction wheel of the Launch...

Страница 25: ...al counter clockwise and right to rotate the gimbal clockwise The more the stick is pushed away from the center position the faster the robot will rotate Push the stick up to move forward and down to move backwards The more the stick is pushed away from the center position the faster the robot will move Push the stick left to move left and right to move right The more the stick is pushed away from...

Страница 26: ...quency of Launch 10 projectiles second Projectile Speed of Launch barrel 25 m s Projectile Load 200 Propulsion System Chassis Power Motor Model RoboMaster M3508 P19 Brushless DC Gear Motor Gimbal Power Motor Model RoboMaster GM6020 Gimbal Motor Launch Power Motor Model DJI Snail 2305 Racing Motor Launch Power Motor ESC DJI Snail 430 R Racing ESC Load Power Motor Model RoboMaster 2006 P36 Brushless...

Страница 27: ...Model DT7 Operating Frequency 2 4 GHz Communication Distance 1 000 m Power Supply Built in lithium battery Charging Port Micro USB Battery Capacity 2600 mAh Charger Model A14 100P1A Input 100 240 V 50 60 Hz Output 26 3 V Projectile Model RoboMaster 17mm Standard Projectile Color White Size 17 mm Weight 3 4 g ...

Страница 28: ...006 P36 Brushless DC Gear Motor 1 RoboMaster C610 Brushless Motor ESC 1 RoboMaster GM6020 Brushless Motor with ESC 2 RoboMaster Main Controller Development Board 1 DJI Snail 2305 Racing Motor 2 DJI Snail 430 R Racing ESC 2 Robomaster Referee System Armor Module 4 Main Controller Module 1 Speed Monitor Module 1 RFID Interaction Module 1 RFID Interaction Card 2 Power Management Module 1 Remote Contr...

Страница 29: ...23 Module Name Component Name Quantity Charger with charging cable 1 ...

Страница 30: ...24 ...

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