Dobot Magician Go DT-AC-GO4WD-01E User Manual

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User Guide

Dobot Magician Go

User Guide

Issue: V1.0

Date: 2021-09-14

Shenzhen Yuejiang Technology Co., Ltd.

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Page 1 User Guide Dobot Magician Go User Guide Issue: V1.0 Date: 2021-09-14 Shenzhen Yuejiang Technology Co., Ltd.
Page 2 Even if follow this document or any other related instructions, Damages or losses will be happening in the using process, Dobot shall not be considered as a guarantee regarding all security information contained in this document.
Page 3 Dobot Magician Go User Guide Preface Purpose This manual introduces the functions, technical specifications and operation of Dobot Magician Go (Hereinafter referred to as Magician Go), which is convenient for users to understand and use Magician Go. Intended Audience This document is intended for: ...
Page 4: Table Of Contents
Dobot Magician Go User Guide Contents Safety Precautions ....................1 General security ........................ 1 Power Box security ......................2 Introduction ......................3 Overview ........................... 3 Description on parts of Magician Go ................3 Magic Box ......................5 Power Box ......................7 Mecanum wheels ....................
Page 5: Safety Precautions
 People cannot repair and disassemble Magician Go without professional training. If there is a problem with the product, please contact Dobot technical support engineer in time.  Please comply with the relevant laws to deal with the product which is scrapped, and protect the environment.
Page 6: Power Box Security
Dobot Magician Go User Guide or pinching.  It is prohibited to modify or remove the nameplates, instructions, icons, and marks on Magician Go and the related equipment.  Be careful when carrying or installing Magician Go. Please follow the instructions on the packing box to put down Magician Go gently and place it correctly in direction of the arrow.
Page 7: Introduction
Dobot Magician Go User Guide Introduction Overview Magician Go is an omnidirectional intelligent mobile chassis designed for Magician Lite robot arm (hereinafter referred to as Magician Lite). You can make Magician Lite move by operating Magician Go. With Mecanum wheels, Magician Go can move omnidirectionally and freely.
Page 8 Dobot Magician Go User Guide Figure 2.2 Parts of Magician Go Table 2.1 Description on parts of Magician Go Description Magic Box External controller, which has been assembled to Magician Go before delivery. It is used for logical control of Magician Go. For details, please see 2.2.1Magic Box.
Page 9: Magic Box
Dobot Magician Go User Guide Description Ultrasonic sensors (four in total) It is used to detect whether there are obstacles within the detection range. The detection range is 30cm and the scanning sector is 60°. Programmable LEDs (four in total) You can customize the status of the Programmable LEDs when writing programs ⚫...
Page 10 Dobot Magician Go User Guide Figure 2.3 Magic Box interface Table 2.2 Description on Magic Box interface Description Peripheral: Port1~Port6. Please see Table 2.3 for details DC motor/stepper motor interface 12V output interface Communication interface, for communicating with Magician Go or Magician Lite...
Page 11: Power Box
Dobot Magician Go User Guide Table 2.3 Description on peripherals Interface. Description Port 1 Connect communication cable of Magician Go camera Port 2 Connect communication cable of Magician Lite camera Port 3/Port 4 Used as an I2C interface, I/O interface, AD interface, PWM interface to connect AI sensor kit: knob potentiometer, light sensor, sound sensor, OLED screen, color sensor, photoelectric sensor, humiture sensor, LED module, etc.
Page 12: Mecanum Wheels
Dobot Magician Go User Guide Figure 2.6 Query on Draw page Select Playback in Magic Box, and press OK button. You can check the percentage of ⚫ remaining power in Playback page, as shown in Figure 2.7. Figure 2.7 Query on Playback page 2.
Page 13: Status Indicator Leds
Dobot Magician Go User Guide Figure 2.8 Distribution of Mecanum wheels Status indicator LEDs Magician Go has two status indicators, as shown in Figure 2.9. The color, on/off status and blink can reflect the status of Magician Go, as specifically described in Table 2.4.
Page 14: Ai Camera
Dobot Magician Go User Guide Color Status description Yellow on: emergency switch is pressed, and Magician Go is locked Yellow Yellow blink: obstacle detected or motor blockage (with two beeps) Red on: power below 5% (with beeps), Magician Go stops moving...
Page 15 Dobot Magician Go User Guide The chassis AI camera is designed for and built into Magician Go, as shown in Figure 2.11. The target detection algorithm is used to train the model, which is embedded in the chassis AI camera to realize road sign detection and line patrol.
Page 16: Technical Specifications
Dobot Magician Go User Guide Technical specifications Technical parameters Table 2.6 Magician Go technical specifications Specification Description Model DT-AC-GO4WD-01E Weight 5 kg Maximum load 5 kg Dimensions 463 mm × 289 mm × 124 mm, for details please see 2.3.2Dimensions...
Page 17: Dimensions
Dobot Magician Go User Guide Weight 98 g Dimensions 95 mm × 80 mm × 21.5 mm Table 2.8 Power Box technical specifications Specification Description Maximum charging voltage 12 V / 1 A DC Input voltage/current 12 V / 5 A DC...
Page 19: Wiring
Dobot Magician Go User Guide Wiring Wiring of Magic Box Magic Box has been assembled to Magician Go before delivery, and the 10Pin communications cable, 4Pin power cord and 4Pin camera communication cable have been assembled to Magician Go before delivery, as shown in Figure 3.1.
Page 20 Dobot Magician Go User Guide Figure 3.2 Magic Box top wiring 2. Wiring of Magic Box bottom interface The bottom interface of Magic Box includes a 12V power interface : as shown in Figure 3.3. Connect of Magic Box to 4 Pin communication cable to provide power for Magician Lite.
Page 21: Wiring Of Magician Lite
Dobot Magician Go User Guide communication between Magic Box and arm AI camera. Figure 3.4 Magic Box side wiring Wiring of Magician Lite Magician Lite needs to be purchased separately and placed in the arm installation slot of Magician Go. The arm installation slot contains a 10Pin communication cable and a 4Pin power cord for connecting the interface of Magician Lite.
Page 22: Wiring Of Arm Ai Camera
Dobot Magician Go User Guide Figure 3.5 Magician Lite wiring diagram Wiring of arm AI camera The arm AI camera needs to be installed on Magician Lite. There is a 4Pin communication cable in the arm installation slot of Magician Go, which has been assembled to Magician Go for connecting arm AI camera.
Page 23 Dobot Magician Go User Guide Figure 3.7 Place AI camera Figure 3.8 Fix AI camera Figure 3.9 Wiring Figure 3.10 Adjust angle of AI camera NOTE Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 24 Dobot Magician Go User Guide  To ensure the normal use of the arm AI camera, it is necessary to calibrate the camera first. For details, see 4.2.4Arm camera calibration. Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 25: Operation
Dobot Magician Go User Guide Operation Control mode Magician Go supports four control modes: remote control mode, Bluetooth control mode, wired control mode and script control mode Remote control mode The remote control mode is to control Magician Go and Magician Lite using the joystick, so that you can quickly experience various functions of Magician Go and the Magician Lite.
Page 26 Dobot Magician Go User Guide Connect the USB connector of the controller to the USB port of the PC. Click the Power button of the joystick, and the red indicator of the joystick is on. You can confirm the current joystick mode through two red indicators. The joystick has three modes, as shown below.
Page 27 Dobot Magician Go User Guide indicator light is solid on, indicating that a mode switch is completed. Check whether the current joystick mode is Mode 1 or Mode 2. Otherwise perform this step to adjust the joystick mode again. Table 4.1 Description on Joystick keys...
Page 28: Bluetooth Control Mode
Dobot Magician Go User Guide Joystick keys Description 【Magician Lite】Control pumping up/gripper (gripping)/suction cup (gripping) 【Magician Lite】pumping down/gripper (releasing)/suction cup (releasing) 【Magician Lite】Close the pump/Disable the gripper Bluetooth control mode The Bluetooth control mode is used to control Magician Go and Magician Lite on DobotLab software platform.
Page 29 Dobot Magician Go User Guide Table Figure 4.5 Power Magic Box The indicator of the Bluetooth dongle shows blue when the Bluetooth dongle is ⚫ automatically paired with Magic Box. Then go to Step 3. The indicator of Bluetooth dongle blinks at short intervals (or long intervals) ⚫...
Page 30: Wired Control Mode
Dobot Magician Go User Guide Figure 4.6 Enter LobotLab NOTE For the instruction on DobotLab, please see 4.2DobotLab operation. Wired control mode Wired control mode is used to control Magician Go and Magician Lite on DobotLab software platform through wired connection.
Page 31: Script Control Mode
Dobot Magician Go User Guide Figure 4.7 Connect device with USB Figure 4.8 Power Magic Box Figure 4.9 Enter Dobotlab NOTE For the instruction on DobotLab, please see 4.2DobotLab operation. Script control mode Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 32: Dobotlab Operation
Dobot Magician Go User Guide In wired control mode of Magician Go, you can download scripts generated through programming- in DobotLab to Magic Box. You can controlled Magician Go and Magician Lite by running scripts in Magic Box in script control mode.
Page 33: Introduction On Dobotlab
Dobot Magician Go User Guide Introduction on DobotLab DobotLab (website: ) is an integrated software platform specially designed for artificial intelligence (AI) education. DobotLab has two core programming modules, namely DobotBlock Lab and Python Lab. The main interface is shown in Figure 4.12.
Page 34 Dobot Magician Go User Guide Figure 4.13 DobotBlock Lab main interface Table 4.2 Descriptio on DobotBlock Lab main interface Function Description Menu : Click to return to the main page of DobotLab : This menu includes functions such as new, open, save, upload from local, etc.
Page 38: Instruction On Python Lab
Dobot Magician Go User Guide Figure 4.20 Blockly programming Figure 4.21 Event block Instruction on Python Lab Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 39 Dobot Magician Go User Guide Figure 4.22 Python Lab main interface Table 4.3 Description on Python Lab main interface Function Description Display alarm information Start to run the program in the code area Stop running program Program control Download the current program in the code area to Magic Box...
Page 40 Dobot Magician Go User Guide Figure 4.23 Arm control panel Table 4.4 Description on arm control panel Function Description Home Move Magician Lite to the home point Speed Coordinates Coordinates of Magician Lite in joint coordinate system and Cartesian coordinate system...
Page 41 Dobot Magician Go User Guide Figure 4.24 Car control panel Table 4.5 Description on car control panel Function Description Reset Empty the coordinates of the chassis and use the current position as the origin of the coordinates Safety switch Used to control the on/off status of ultrasonic sensor, so as to realize...
Page 42 Dobot Magician Go User Guide Figure 4.25 Device connection Figure 4.26 Device is connected Figure 4.27 Start programming Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 43: Arm Camera Calibration
Dobot Magician Go User Guide NOTE  The script can be downloaded from DobotLab to Magic Box only in wired control mode.  When you download the current program, two library files apiscript.py and betagoscript.py are also downloaded to support the offline running of script.
Page 44 Dobot Magician Go User Guide Figure 4.29 Place calibration board on pallet of Magician Go Figure 4.30 Click Calibration Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 45 Dobot Magician Go User Guide Figure 4.31 Equipment calibration block Figure 4.32 Scan calibration board NOTE Place the calibration board correctly on the pallet of Magician Go. Start calibration if all the QR codes on the calibration board (a total of 9) can be scanned through the AI camera.
Page 46 Dobot Magician Go User Guide Figure 4.33 Arm camera calibration Figure 4.34 Align the suction cup center of Magician Lite with the cross center of QR code Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 47 Dobot Magician Go User Guide Figure 4.35 Calibrate No.1 QR code NOTE During the calibration process, the end should be as close to the calibration board as possible, but should not touch the calibration board, which will cause its displacement.
Page 49: About Map
Dobot Magician Go User Guide About Map Introduction on map and accessories The map, with the theme of automatic driving in the future robot city, mainly includes five areas: starting point, residence, supermarket, Go’s home and intelligent warehouse. Its size is 328 cm ×...
Page 50 Dobot Magician Go User Guide Figure 5.2 Placing of guide sign The guide signs include road signs, stopping sign and area sign, as described below. Road signs ⚫ The road signs are shown in Table 5.1. They must be placed according to Figure 5.3.
Page 51 Dobot Magician Go User Guide Figure 5.3 Position of road signs Stopping signs ⚫ Stopping signs are shown in Table 5.2. Table 5.2 Stopping sign Icon Description Stop STOP must be placed following the specified position in Figure 5.4. can be placed according to your actual need.
Page 52 Dobot Magician Go User Guide Figure 5.4 Position of “stop” road sign Area signs ⚫ The area signs are shown in Table 5.3. They must be placed according to Figure 5.5. Table 5.3 Area sign Icon Description Supermarket Intelligent warehouse Residence Figure 5.5 Position of area sign...
Page 53 Dobot Magician Go User Guide Table 5.4 Placing boxes Icon Description Intelligent express cabinet Intelligent warehouse shelf Supermarket placing box (for goods entry) Supermarket placing box (for goods delivery) Figure 5.6 Position of placing boxes Express boxes include international express, domestic express and Intra-city express, as shown in Figure 5.5.
Page 54 Dobot Magician Go User Guide Figure 5.7 Position of express boxes Props include orange, cabbage and mineral water, as shown in Table 5.6. When simulating in supermarket or intelligent warehouse, please place he props according to Figure 5.8, and ensure that the props are placed on the placing boxes of intelligent warehouse shelf or the supermarket.
Page 55: Reset
Dobot Magician Go User Guide  Mineral water props need to laid on its side, otherwise it may cause failure in capturing. Reset Magician Go is calibrated with the coordinates corresponding to the center point of the car body, as shown in Figure 5.9. If Magician Go is used with the map, it must be reset at “START”...
Page 56: Demo
0. (go.set_odometer_data(x=0, y=0, yaw=0)) Demo The demo in this section has been loaded into Magic Box of Magician Go before delivery. You can log in Yuejiang website (https://cn.dobot.cc/downloadcenter/dobot-magician-go.html) to download. Road sign detection demo Introduction 5.3.1.1...
Page 57 Dobot Magician Go User Guide Figure 5.12 Procedure for road sign detection Procedure 5.3.1.2 Figure 5.13 Position of Magician Go and STOP sign Code description 5.3.1.3 Set patrol speed go.set_trace_speed(speed=20) beta_go.set_ptp_car() Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 58 Dobot Magician Go User Guide Start automatic patrol go.set_auto_trace(trace=1) # Start automatic patrol Check STOP sign while 1: if beta_go.car_camera_is_detected(sign_name="stop"): # Checked STOP sign go.set_trace_speed(speed=0) # Stop patrol (speed is 0) go.set_auto_trace(trace=0) # End automatic patrol if not beta_go.car_camera_is_detected(sign_name="stop"): # Checked no STOP sign go.set_trace_speed(speed=20)
Page 59 Dobot Magician Go User Guide Procedure 5.3.2.2 Figure 5.15 Position of Magician Go Figure 5.16 Position of placing boxes Issue V1.0 (2021-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 60 Dobot Magician Go User Guide Figure 5.17 Position of blocks Figure 5.18 Script starts to run Key code description 5.3.2.3 Set arm AI camera as block detection mode. beta_go.set_arm_camera_model(index=1) Identify the color of blocks on the pallet of Magician Go and randomly select one block while True: beta_go.set_ptp_car()
Page 61 Dobot Magician Go User Guide grab_obj = datalist["dl_obj"][grab_ind] # Get information of the block x_c = grab_obj["x"]+grab_obj["w"]/2 # Calculate the coordinates of the block center point y_c = grab_obj["y"]+grab_obj["h"]/2 p_x, p_y = beta_go.imgxy_to_armxy(x_c, y_c, 0) # Convert to arm coordinates m_lite.set_ptpcmd(1, p_x, p_y, 10, -80.0887)
Page 62 Dobot Magician Go User Guide Intelligent logistics introduction 5.3.3.1 Magician Go and Magician Lite perform the logistics delivery task: deliver the express in the intelligent warehouse to the residence, and the fresh goods to the supermarket. Figure 5.19 Procedure of intelligent logistics Procedure 5.3.3.2...
Page 63 Dobot Magician Go User Guide Figure 5.20 Position of guide signs, props and express boxes Code description 5.3.3.3 Reset go.set_odometer_data(x=0, y=0, yaw=0) Set speed of line patrol, and start automatic line patrol go.set_trace_pid(p=0.5, i=0, d=0.5) go.set_trace_speed(speed=20) go.set_auto_trace(trace=1) Set arm AI camera as fresh express detection mode beta_go.set_arm_camera_model(index=3)
Page 64 Dobot Magician Go User Guide beta_go.stop_point(point=[0, 75], scope=20, err=2) # Magician Go stops beta_go.grab_obj_cartofloor(object_class=2) # Place express boxes go.set_auto_trace(trace=1) # Continue to patrol If detects “Supermarket” sign, place props on the pallet of Magician Go to supermarket placing boxes while cycle3: if beta_go.car_camera_is_detected("spm"):...

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