“空中灵巧机器人”挑战赛竞赛规则
“空中灵巧机器人”挑战赛竞赛规则
Competition rules for Aerial Manipulation Robot Challenge
“空中灵巧机器人”分为三个挑战赛科目：1. 目标搜索；2. 空中操作；3.空
中智能操作。参赛机型必须满足相应科目的规则要求和竞赛通则要求。
The Aerial Manipulation Robot Challenge is divided into three challenge missions:
1 Target search; 2. Aerial Manipulation; 3. Intelligent Aerial Manipulation. The
participating robots must meet the requirements of the corresponding mission rules
and competition rules.
1. 目标搜索
1. Target Search
重点考核无人机精确高速避障技术。
The key assessments will be focused on precise high-speed obstacle avoidance
technology.
1.1. 任务概要
1.1. Task Summary
参赛队派出一台无人机参赛。各参赛队在入场前申报即将采用的控制方式，
并由裁判审核其技术特征是否申报材料相符。比赛评分倾向无人机采用全自主控
制。
各参赛队在入场准备完毕后，裁判根据其控制方式对场内障碍进行相应的调
整，随后下达起飞指令。无人机起飞后利用视觉导航和避障，自主识别并穿越路
径上的四个门框并安全返回起降区域。
The participating team dispatched a drone to compete. Each participating team
shall declare the control method to be adopted before entering the venue, and the
referee shall review whether their technical characteristics match the declared
materials. The competition evaluation tends to use fully autonomous control.
After each participating team prepares for entry, the referee adjusts the
obstacles in the field according to their control method, and then issues takeoff
instructions. After takeoff, the drone utilizes visual navigation and obstacle avoidance
to autonomously identify and traverse the four door frames along the path and safely
return to the takeoff and landing area.
1.2. 比赛规则
1.2. Competition Rules
1.2.1. 技术要求
1) 飞行平台：飞行状态下最大尺寸不超过 800mm；
2) 起降方式：垂直起降；
3) 动力形式：仅限电动；
4) 每支参赛队不得少于 1 架（备份机不计入内）无人机入场参赛，否则取
消其参赛资格；
5) 控制方式：采用全自主控制。
1.2.1. Technical requirements
1) Flight platform: The maximum size does not exceed 800mm;
2) Takeoff and landing mode: vertical takeoff and landing;
3) Power supply: electric only;
4) Each participating team must have no less than one drone (backup drones
are not included) entering the competition, otherwise their eligibility to
participate will be cancelled;
5) Control method: Fully autonomous control.
1.2.2. 场地与设备
1.2.2. Venue and Equipment
图 1 科目一场内布置图Figure 1 Layout Plan of Mission1
Front view (lowest position) Front view (highest position)
Door frame with shading graphics
图 2 无人机穿越的门框设置。基本穿越尺寸为 2X1 米。选用高级难度时，门框将在其各自的虚线范围内随意摆放，并可设置距地面高度和额外遮蔽图形
Figure 2: Door frame setup for UAV crossing. The basic crossing size is 2X1 meters. When selecting advanced
difficulty, the door frame will be placed freely within its respective dashed range, and the height above the ground
and additional shading graphics can be set by the referees.
1) 本项目飞行空域约为 20X10X5 米的室内区域，无 GPS 等外部定位手段；
2) 比赛场地中划设有起降区域。起降方式不限，但超出起降区域接地的无
人机视为未完赛；
3) 门框尺寸为 2 米 X1 米，在其周围地面上，有一圈虚线框标注其可移动
范围；
4) 基本难度时，门框中心与虚线范围中心重合，因而参赛队可以掌握其具
体位置坐标。四个门框统一为最低高度，不做升降调整，不覆盖额外遮
蔽图形；
5) 在全自主控制的基础上采用高级难度时，门框可在虚线范围任意摆放，
但朝向不变，以保持基本航路的形状。门框高度将调整，且门框上将覆
盖额外遮蔽图形；
6) 门框和额外遮蔽图形为统一颜色（例如黄色）。
1) The flight venue of this mission is an indoor area of approximately 20X10X5
meters, without external positioning methods such as GPS;
2) The competition venue is designated containing takeoff and landing area.
There are no restrictions on takeoff and landing methods, but drones that
exceed the landing area and reach ground are considered incomplete;
3) The size of the door frame is 2X 1 meters, and there is a dotted line around
the ground to indicate its movable range;
4) At basic difficulty, the center of the door frame coincides with the center of
the dashed range, so the participating team can grasp its specific position
coordinates. The four door frames are uniformly set as the lowest height,
without any lifting adjustment or covering of additional shading graphics;
5) When using advanced difficulty based on fully autonomous control, the door
frame can be placed freely within the dashed range, but the orientation
remains unchanged to maintain the shape of the basic route. The height of the
door frame will be adjusted, and additional masking graphics will be covered on
the door frame;
6)The door frame and additional shading graphics are in a same color (such as
yellow).
1.2.3. 比赛方式
1.2.3. Competition methods
1) 在裁判宣布比赛开始后，参赛队携带无人机和设备进入起降区进行准备，
准备完毕后示意裁判。准备时间不得超过 5 分钟。
a) 基本难度：裁判在参赛队完成准备后，确认场内条件，之后下达起
飞指令。参赛队员仅允许按下一键起飞按钮。任何多于一个按键动
作的操作视为应急操作，比赛成绩为 0 分；
b) 高级难度：裁判在参赛队完成准备后，指示工作人员挪动门框的位
置；由参赛队员抽签决定几号门框升高到最高位以及额外遮蔽图形
在各门框中的排列顺序，并由大赛工作人员做出相应调整。场内调
整完毕后，裁判下达起飞指令。参赛队员仅允许按下一键起飞按钮。
任何多于一个按键动作的操作视为应急操作，比赛成绩为 0 分；
2) 在裁判下达起飞指令一分钟之内，无人机必须起飞完毕；
3) 无人机起飞后，仅按规定方向和规定顺序穿越门框才有效。否则成绩为
0 分。在许可穿越的进入面，门框上所有遮挡区域均会统一涂成一种颜
色（例如黄色）；
4) 无人机按规定顺序穿越完所有门框并返回起降区域后，该参赛队在该科
目的比赛结束。
1) After the referee announces the start of the competition, the participating
teams carry drones and equipment into the takeoff and landing area for
preparation. After preparation is completed, the team leader should give a sign
to the referee. The preparation time should not exceed 5 minutes.
a) Basic difficulty: After the participating team completes preparation, the
referee confirms the conditions on the field and then send takeoff command.
Participants are only allowed to press the takeoff button once. Any operation
with more than one button action is considered an emergency operation, and
the competition score is 0 points;
b) Advanced difficulty: The referee instructs the staff to move the position of
the door frame after the participating team has completed preparation. The
participating team members will draw lots to determine the number of door
frames to be raised to the highest position and the arrangement order of
additional shielding graphics in each door frame, and the competition staff will
make corresponding adjustments. After the adjustment is completed, the
referee issues takeoff ready command. Participants are only allowed to press
the takeoff button once. Any operation with more than one button action is
considered an emergency operation, and the competition score is 0 points;
2) The drone must take off within one minute of the referee issuing the takeoff
command;
3) After the drone takes off, it is only effective to pass through the door frame
in the specified direction and sequence. Otherwise, the score will be 0 points.
All obstructed areas on the door frame will be uniformly painted with a color
(such as yellow) on the entry surface that is allowed to pass through;
4) After the drone passes through all the door frames in the prescribed order
and returns to the takeoff and landing area, the participating team's
competition in that mission ends.
1.2.4. 赛制与成绩
1.2.4 Competition format and results
1) 每支参赛队派出的无人机仅飞行一圈；每支参赛队仅一次机会；
2) 完成一圈赛道的总时间计为速度得分。计时方式为：从裁判下达起飞命
令开始，到无人机返回起降区域；
3) 选择高级穿越难度并完赛的参赛队将获得重大加分。
1) Each participating team's drone will only fly one lap. Each participating team
has only one chance.
2) The total time spent completing one lap of the track is counted as the speed
score. The timing method is: from the moment the referee issues the takeoff
command to the time the drone returns to the takeoff and landing area;
3) The participating team that chooses advanced crossing difficulty and
completes the competition will receive significant bonus points.
2. 空中操作
2.Aerial Manipulation
重点考核无人机在空中进行自主操作的能力，考核无人机搜索策略和任务规
划。
The mission is focused on autonomous operation ability of drones in the air, as
well as assessing drone search strategies and mission planning.
2.1. 任务概要
2.1. Task Summary
各参赛队派出 1 架无人机参赛，首先对墙上的目标进行识别和定位，随后利
用无人机上搭载的机械臂或触杆。能有效识别并按下按钮，按钮上的数字代表得
分，得分越高且用时少者得胜。
Each participating team sends out one drone to compete. Identifying and
locating the target on the wall, the drone then uses a robotic arm or mounted
touch-stick on to identify and press the targets. The number on the button represents
the score, where the higher the number and the less time the drone takes, the
winner it is.
2.2. 比赛规则
2.2 Competition rules
2.2.1. 技术要求
2.2.1 Technical requirements
1) 飞行平台：
a) 无人机飞行状态下最大尺寸小于 800mm。
b) 无人机必须采用垂直起降布局；
2) 动力形式：仅限电动；
3) 控制方式：所有参赛无人机必须为全自主;
4) 目标墙由大赛组委会统一提供，墙的尺寸为 5mX3m，墙上有 1~9 之间
的 9 个随机数字，大小为 30cmX30cm(未来会缩小至 3cm 以内)，被无人
机上携带的机械臂或触杆大于 100gf 的力触及后，数字会变暗，并获得
相应分数，每组队伍参赛过程中数字固定；
5) 无人机需要在起飞后，根据组委会提供的坐标，先飞行至目标墙正面，
首先确定要触及的数字顺序，然后无人机挨个触及选定的数字，在规定
时间内获得分数越多者排名越高。
1) Flight platform:
a) The maximum size of the drone is less than 800mm.
b) Drones must adopt a vertical takeoff and landing layout;
2) Power supply: electric only;
3) Control method: All participating drones must be fully autonomous;
4) The target wall is provided by the organizing committee of the competition,
with a size of 5mX3m. There are 9 random number buttons between 1 and 9
on the wall, with a size of 30cmX30cm (which will be reduced to within 3cm in
the future). When touched by a mechanical arm or touch-stick carried by the
drone with a force greater than 100gf, the numbers will darken and
corresponding scores will be obtained. The numbers for each team will be
fixed during the competition process.
5) After takeoff, the drone needs to fly to the front of the target wall according
to the coordinates provided by the organizing committee. The drone should
determine the order of the numbers to be touched firstly, and then touch the
selected numbers one by one. The higher the score obtained within the
specified time, the higher the ranking is got.
图 3 科目二比赛场地的设置
Figure 3 Setting of the Competition Venue for mission 2
2.2.2. 场地与设备
2.2.2. Venue and Equipment
1) 飞行区域设在室内，不提供卫星导航信息，无人机必须以视觉导航方式
自行飞行至目标墙附近。
2) 飞行空域中包含起降区域和目标区域；
3) 组委会提供起飞区域至目标区域之间的坐标关系，但不会公布墙上数字
的坐标。
1) The flight area is located indoors and does not provide satellite navigation
information. Drones must fly autonomously to the near position of the target
wall using visual navigation only.
2) The flight airspace includes takeoff and landing area and target area;
3) The organizing committee provides the coordinate relationship between the
takeoff area and the target area, but will not provide the coordinates of the
numbers on the wall.
2.2.3. 比赛方式
2.3.3 Competition methods
1) 在裁判宣布比赛开始后，参赛队携带无人机和设备进入起降区进行准备，
准备完毕后示意裁判。准备时间不得超过 5 分钟；
2) 裁判在参赛队完成准备后，确认场内条件，之后下达起飞指令。在裁判
下达起飞指令 1 分钟之内，无人机必须起飞完毕；
3) 无人机升空搜索目标，找到并定位目标后，开始实施空中操作；
4) 起飞命令下达后开始计时，无人机降落到起降区域后停止计时，时长不
超过 3 分钟，超过 3 分钟后无人机尚未落地的，按降落计算；
5) 从裁判下达起飞命令开始，比赛时长不得超过 10 分钟。若到 10 分钟时
参赛队尚未完成任务，则结果统计截止；
6) 除操作杆或机械臂外，无人机的其他部件不得触及场内设备，否则裁判
有权按下紧急开关，强行迫降飞机。
1) After the referee announces the start of the competition, the participating
teams carry drones and equipment into the takeoff and landing area for
preparation. After preparation is completed, team leaders show ready signal to
the referee. The preparation time shall not exceed 5 minutes;
2) After the participating teams have completed their preparations, the referee
confirms the conditions on the field and then issues takeoff command. The
drone must take off within 1 minute of the referee issuing the takeoff
command;
3) Drones take off to search for targets, locate them, and begin operations;
4) Timing starts after the takeoff command is issued, and stops after the drone
lands in the takeoff and landing area. The duration does not exceed 3 minutes.
If the drone has not yet landed after 3 minutes, it will be counted as landing;
5) The duration of the competition shall not exceed 10 minutes from the
moment the referee issues the takeoff command. If the participating team has
not completed the task by 10 minutes, the result statistics will be closed;
6)Except for the touch-stick or robotic arm, other components of the drone
must not touch any equipment in the field. Otherwise, the referee has the right
to press the emergency switch and force landing the drone.
2.2.4. 赛制与成绩
2.2.4 Competition format and results
1) 每支参赛队在本项目仅进行一次比赛；
2) 无人机的操作杆或机械臂成功触及数字，并令数字变暗后，获得与数字
对应的分数；
3) 起飞后 1 分钟内完成的操作，完成部分分数乘以 3，1 分钟至 2 分钟内
的操作，所获分数乘以 2；2 分钟至 3 分钟内完成操作的部分所获分数
乘以 1，3 分钟以后所有操作不得分。
1) Each participating team will only compete once in this mission;
2) After the drone's touch-stick or robotic arm successfully touches a number
and dims it, it obtains a score corresponding to the number;
3) Operations completed within 1 minute after takeoff can have their
completion score multiplied by 3. Operations completed within 1 minute to 2
minutes can have score multiplied by 2. The score obtained from completing
operations within 2 to 3 minutes is multiplied by 1. and all operations after 3
minutes are not scored.
3. 智能空中操作
3.Intellegent Aerial Manipulation
重点考核无人机定位信息受限情况下空中精确定位技术、目标搜索技术和空
中操作技术。
The key techlogy of this mission include precise aerial positioning technology,
target search technology, and aerial manipulation technology under limited
positioning information.
3.1. 任务概要
3.1 Mission Summery
在比赛区域搭建一个模拟化工厂，在模拟梯子、反应塔等位置放置若干数字，
数字大小为 30cmX30cm（未来缩小至 3cm 之内），无人机需在化工厂区域内自行
搜索数字，并利用操作杆或机械臂触碰数字 5 秒钟以上，方可令数字熄灭，并获
得相应分数，在规定时间内分数越高者获胜。
The competition committee builds a simulated chemical plant in the competition
area, places several numbers at positions such as ladders and reaction towers, with a
size of 30cm x 30cm (to be reduced to within 3cm in the future). Drones need to
search for numbers automatically in the chemical plant area and touch them with a
touch-stick or robotic arm for more than 5 seconds to turn off the numbers and
obtain corresponding scores. The higher the score within the specified time it obtains,
the winner it is.
3.2. 比赛规则
3.2 Competition rules
3.2.1. 技术要求
1) 飞行平台：飞行状态下最大尺寸不超过 800mm。
2) 动力形式：仅限电动；
3) 控制方式：所有参赛无人机必须为全自主。
3.2.2. 场地与设备
1) 飞行区域内分为起降区和比赛区。其中起降区供无人机实际进行起降，
比赛区则设置模拟化工厂，供无人机自主探索及进行模拟检修操作；
3.2.3. 比赛方式
1) 在裁判宣布比赛开始后，参赛队携带无人机和设备进入起降区进行准备，
准备完毕后示意裁判。准备时间不得超过 5 分钟。
2) 裁判在参赛队完成准备后，之后下达起飞指令。比赛总时间从此时开始
计时。在裁判下达起飞指令一分钟之内，无人机必须起飞完毕；
3) 无人机起飞后自行进入模拟着陆区域，并自动搜索组委会提前安装的数
字；
4) 完成字体搜索后，无人机需要用触碰杆或机械臂触碰数字，保持 5 秒以
上，使得数字熄灭，记为操作成功。
3.2.4. 赛制与成绩
1) 每支代表队仅一次比赛机会；
2) 完赛所花时间越短者得分越高；
3) 触碰的数字越高者，得分越高。
3.2.1. Technical requirements
1) Flight platform: The maximum size of the drone does not exceed 800mm.
2) Power supply: electric only;
3) Control method: Fully autonomous.
3.2.2. Venue and Equipment
1) The flight area is divided into takeoff and landing areas and competition
areas. The takeoff and landing area is used for actual takeoff and landing of
drones, while the competition area is equipped with a simulation factory for
autonomous exploration and simulated maintenance operations of drones;
3.2.3. Competition methods
1) After the referee announces the start of the competition, the participating
teams carry drones and equipment into the takeoff and landing area for
preparation. After preparation is completed, the team leaders sign to the
referee. The preparation time should not exceed 5 minutes.
2) The referee issues takeoff command after the participating teams have
completed their preparations. The total time of the competition starts counting
from this point. The drone must take off within one minute after the referee
issuing the takeoff command;
3) After takeoff, the drone enters the simulated landing area a and searches for
the numbers installed by the organizing committee automatically;
4) After completing the target search, the drone needs to touch the numbers
with a touch stick or robotic arm for more than 5 seconds to turn off the
numbers, indicating a successful operation.
3.2.4. Competition format and results
1) Each participating team has only one chance to compete;
2) The shorter the completion time, the higher the score;
3) The higher the number touched, the higher the score.
图 4 科目三比赛用于智能空中操作的设备
Figure 4 Equipment used for intelligent aerial operations in mission 3
4. 竞赛通则
4.General rules for competitions
4.1. 参赛队组成
4.1.1. 参赛的无人机及相关设备仅限一支参赛队使用，不得转让给其他队使用。
4.1.2. 参赛队员名单一经确认后不得更改，除非发生人力不可抗因素，可由总裁
判长酌情考虑。
4.1. Composition of participating teams
4.1.1. The participating drones and related equipment can only be used by one
participating team and cannot be transferred to other teams.
4.1.2. Once the list of participating team members is confirmed, it cannot be changed,
unless there is a force majeure factor, which can be considered at the discretion of
the chief referee.
4.2. 技术审核
4.2.1. 报名时需要提交参赛作品的技术资料，包括设计报告（电子版）。其中，设
计报告应包括平台主要性能指标参数、使用频率、系统安全性等。报告文
本不小于 2000 字符。
4.2.2. 裁判委员会有权在比赛期间的任何时间对参赛作品进行抽审，凡发现有不
合格者，将取消其比赛成绩。
4.2.3. 比赛可以使用备用机、备用零部件、备用电源、备用地面站等，但必须与
提交的技术资料相符，并必须通过技术审核。
4.2.4. 比赛时，参赛飞机及设备必须凭“合格证”进入赛场。
4.2. Technical Review
4.2.1. When registering, it is necessary to submit technical materials for the team,
including design reports (electronic version). The design report should include the
main performance parameters of the drone, adopted frequency, system security, etc.
The report text should not be less than 2000 characters.
4.2.2. The judging committee has the right to conduct a random review of the entries
at any time during the competition. Any team found to be unqualified will have their
competition results cancelled.
4.2.3. The competitor can use backup drones, backup parts, backup power sources,
and backup ground stations, etc. They must match the submitted technical
information and pass the technical review.
4.2.4. During the competition, participating drones and equipment should be
stickered with a "certificate of conformity" firstly.
4.3. 无线电设备
4.3.1. 使用频率应符合中国国家无线电管理委员会的频率分配规定。
4.3.2. 报到时应申明并确认使用频率，一经确认不得更改。
4.3.3. 赛前一个月将具体公布许可频段分布以及 WIFI 连接的详细参数。
4.3.4. 比赛期间非上场队严禁擅自开启或使用无线电设备。
4.3. Radio equipment
4.3.1. The frequency used shall comply with the frequency allocation regulations of
the National Radio Administration of China.
4.3.2. When registration, the frequency should be declared and confirmed. And once
confirmed, it cannot be changed.
4.3.3. The specific distribution of licensed frequency bands and detailed parameters
of WIFI connections will be announced one month before the competition.
4.3.4. During the competition, non competition teams are strictly prohibited from
turning on or using wireless equipment without authorization.
4.4. 安全责任
4.4.1. 参赛队的飞机在飞行中担负有避障（其它门框、防护网）责任；
4.4.2. 因参赛机飞离比赛空域而导致的人员伤亡和财产损失，参赛队须承担相应
法律后果；
4.4.3. 对于所有参赛机，参赛队需要设置保证安全的应急人工遥控关断装置，并
交给裁判员。
4.4. Safety Responsibility
4.4.1. The participating team's drone are responsible for avoiding obstacles (other
door frames, protective nets) and avoiding collisions during flight;
4.4.2. The participating team shall bear the corresponding legal consequences for
personnel injury and property damage caused by the drone flying away from the
competition airspace;
4.4.3. For all participating drones, the participating team needs to install emergency
remote control turn off devices to ensure safety and give them over to the referee.
4.5. 遇到下列情况时，总裁判长有权判决参赛队得分为 0：
4.5.1. 比赛进行中，参赛无人机脱离比赛空域；
4.5.2. 赛前检录三次点名不到的；
4.5.3. 超出规定时间而没起飞的；
4.5.4. 在自主控制比赛项目进行中，参赛队进行人为干预的。
4.5. When encountering the following situations, the chief referee has the right to
judge the participating team's score as 0:
4.5.1. During the competition, the participating drone leaves the competition area;
4.5.2. Those who fail to register three roll calls before the competition;
4.5.3. Failure to take off exceeding the specified time;
4.5.4. During autonomous control of competition events, participating teams engage
in human intervention.
4.6. 遇到下列情况时，总裁判长有权取消参赛队参赛资格：
4.6.1. 使用不符合竞赛规则规定或是未经裁判员审查合格的参赛无人机或设备；
4.6.2. 比赛期间非上场队擅自开启或使用无线电设备的；
4.6.3. 比赛期间擅自进入比赛场地的；
4.6.4. 使用闪光、强光等可能干扰比赛现场观察裁判以及录像回放的灯光设备；
4.6.5. 不服从指挥与调度造成严重后果的。
4.6. The chief referee has the right to cancel the qualification of the participating
team in the following situations:
4.6.1. Use participating drones or equipment that do not comply with competition
rules or have not been reviewed and approved by the referee;
4.6.2. During the competition, non-playing teams illegally activate or use radio
equipment;
4.6.3. Unauthorized person or equipment entering the competition venue during the
competition period;
4.6.4. Use lighting equipment such as flash and strong light that may interfere with
the observation of referees and video playback at the competition site;
4.6.5. Disobedience to command and dispatch resulting in serious consequences.
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