Marvelmind Boxie User manual

Marvelmind Boxie
Operating manual
v2022_06_23
www.marvelmind.com

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Table of contents
1. Executive summary..............................................................................................................................4
1.1 Legend.........................................................................................................................................6
2. What’s in the box..................................................................................................................................7
2.1 Basic configuration.......................................................................................................................8
2.2 Standard configuration .................................................................................................................9
2.3 Advanced configuration.............................................................................................................. 10
3. System elements................................................................................................................................ 11
3.1 Marvelmind Boxie....................................................................................................................... 11
3.1.1 Powertrain.................................................................................................................................. 11
3.2 Obstacle detection and avoidance.............................................................................................. 12
3.3 Navigation and positioning ......................................................................................................... 14
3.3.1 Marvelmind Indoor “GPS” ........................................................................................................... 15
3.3.2 Omni-Microphone-IP67 .............................................................................................................. 16
3.3.3 Intel RealSense (Available in Standard and Advanced configurations)....................................... 17
3.4 Touch screen control.................................................................................................................. 18
3.5 Control system ........................................................................................................................... 19
4. Robot’s controls and basic operations description .............................................................................. 20
4.1 Back control panel...................................................................................................................... 20
4.2 Charging..................................................................................................................................... 21
4.3 Turning on the Boxie .................................................................................................................. 23
4.3.1 Do not disturb mode................................................................................................................... 27
5. Setting up the autonomous robots...................................................................................................... 30
5.1 Software Pack............................................................................................................................ 30
5.2 One-time flash, for SW version from 7.000................................................................................. 31
5.3 Flashing via USB........................................................................................................................ 32
5.4 Test launch................................................................................................................................. 34
5.5 Launching Boxie in the custom map........................................................................................... 37
5.6 Dashboard. Robot detailed settings............................................................................................ 38
5.7 Control Panel for robot ............................................................................................................... 39
6. Trouble shootings............................................................................................................................... 40
6.1 Display doesn’t show robot data ................................................................................................. 40
6.2 What to do if display doesn’t work .............................................................................................. 42
7. Contacts............................................................................................................................................. 43

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Version changes
V2022_06_23
-Chapter 2 updated
-Chapter 3 updated
-Section 4.3 moved to chapter 8
-Section 5.2 One-time flash for SW version from 7.000 added
-Section 5.3 Flashing via USB added
-Section 5.6 Robot detailed settings added
-Minor improvements
V2022_06_10
-Chapter 2 updated
-Chapter 5 updated
-Section 5.4 added
V2022_05_11
-Section 4.1.2 updated
-Section 4.3 added
-Section 4.4 added
V2022_04_19
-Section 1 updated
-Section 2.1 added
-Section 4 updated
V2021_08_05
-Multiple improvements
V2021_02_04
- Initial release

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1.Executive summary
Marvelmind Boxie is an autonomous mobile robot designed for smart warehousing, industrial
applications, research and education.
- Fully autonomous move between any points covered by Marvelmind Indoor "GPS"
- Payload capacity up to 10kg
- Driving time more than 8h on a single charge (no payload)
- Automatic obstacle avoidance and detection
- The route can be reconfigured by 1 button click in 1 second
- Charging time is less than 2h with Hi-current Marvelmind charger.
- Default charging time –6 hours (with supplied charger by default)
- Smart screen for status display and interactions
- Up to 125 robots per system
Demo-videos:
- Autonomous delivery robot Boxie and its inner beauty:-)
- Marvelmind Boxie –autonomous driving
- Fully autonomous drive by 2 robots –Marvelmind Boxie
Omni microphones
Chassis
Omni microphones
Hi-Res display
Intel RealSense™
Speaker
Bright LEDs
1D LIDARs
Ultrasound sensor
Antennas
Driving wheels

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Key specs:
Parameter
Technical Specifications
Navigation
Marvelmind Indoor “GPS” + Intel RealSense + LIDARs + Odometer + IMU
Top speed
2km/h
Weight
4.5kg
Payload
Up to 10kg
Driving time
Up to 8h drive with internal batteries (with no payload)
Charging time
- ≤2h hours with optional charger (Hi-power Marvelmind charger)
- <6h hours (with supplied charger by default)
Sensors
- Marvelmind Indoor "GPS" for positioning. The system has been delivered to hundreds
of projects worldwide
- Location + Direction based on Marvelmind precise indoor positioning system
- LIDARs
- Intel RealSense™
- Several IMUs
- Odometer on each wheel
- 12 x 1D LIDARs
- Sonars
- Current sensing

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1.1 Legend
Legend chapter contains small icons and signs to highlight some key points of the text.
- Important
- For experienced users
- Demo or Help video
- Useful link

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2.What’s in the box
There are 3 types of Boxie configuration:
1) Basic –the same as standard, but doesn’t have Intel RealSense
2) Standard –optimal Boxie configuration with RealSense
3) Advanced –configuration with 2 batteries, Hi-current Marvelmind charger,
RealSense and Starter Set Super-MP-3D. Also includes extended warranty
Basic
Standard
Advanced
Autonomous
robot
Yes
Yes
Yes
Charger 1A
Yes
Yes
Yes
RealSence
(D435+T265) +
software
Not included
Yes
Yes
Dedicated Zoom
training, hours
Not included
1
5
Super-Beacon +
Modem HW v5.1
included, pcs
Not included
Not included
5+1
Hi-power charger
(5A)
Not included
Not included
Yes
Extended
warranty
Not included
Not included
Yes

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2.1 Basic configuration
- Robot Boxie Basic
- Charger 1A

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2.2 Standard configuration
- Robot Boxie Standard
- Charger 1A

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2.3 Advanced configuration
- Robot Boxie
- Charger 1A
- Hi-current Marvelmind charger (5A)
- Extended warranty
- 5 x Super-Beacon
- 1 x Modem HW v.5.1
-

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3.System elements
In this chapter are represented core elements of Marvelmind Boxie. What included in Marvelmind
Boxie, how it looks like, how it works.
Also in this chapter you can learn more about obstacle detections, positioning system and touch
screen control.
Check the video https://youtu.be/7jrrNrQTd3s
3.1 Marvelmind Boxie
Marvelmind Boxie relies on Marvelmind Indoor “GPS” navigation system. The robot
is equipped with additional sensors for detecting and avoiding obstacles. It has a
long battery life and high payload capacity.
- Fully autonomous driving unit from Marvelmind Robotics
- Can be flexible tuned for different cases and projects
- Solid housing
- Visual interfaces
- Audio interfaces
3.1.1 Powertrain
Key specifications:
- 2 driving-wheels
- 2 castor-wheels

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3.2 Obstacle detection and avoidance
Marvelmind team installed multiple 1D LIDAR’s into the robot to provide obstacle
detection and avoidance up to 4 meters away.
- Adjustable detection distance (0.3-4m)
- Emergency stop - https://youtu.be/efOc-ItVvgg?t=67
- Rebuilding paths and alarming if stuck

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Location of LIDARs:

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3.3 Navigation and positioning
Marvelmind Boxie uses Marvelmind Indoor “GPS” + Intel RealSense (Only in
Standard and Advanced configurations) + Odometer + IMU for proper driving and
positioning with ±2cm precision.
If you want to know more about the navigation system, please check the Operating
Manual - https://marvelmind.com/pics/marvelmind_navigation_system_manual.pdf
Omni microphones
Intel RealSense™
Antennas
Ultrasound sensor
Omni microphones

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3.3.1 Marvelmind Indoor “GPS”
Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system,
designed to provide precise (±2cm) location data to autonomous robots, vehicles
(AGV), and copters. It can also be used to track moving objects via mobile beacons
attached to them. Other applications include, for example, forklifts, virtual reality (VR)
systems, helmets for construction workers or miners, etc.
The navigation system consists of a network of stationary ultrasonic beacons
interconnected via radio interface in a license-free band, one or more mobile beacons
installed on objects to be tracked and modem providing gateway to the system from
PC or other computers.
Mobile beacon’s location is calculated based on a propagation delay of an ultrasonic
pulses (Time-Of-Flight or TOF) between stationary and mobile beacons using
trilateration algorithm.
The system can build the map of stationary beacons automatically . In simple cases,
no additional manual data input or any manual distance measurements are required.
This map formed once can be frozen and stored in modem’s memory and the system
becomes fully active within 7 to 10 seconds after the modem is powered.
Minimum configuration requirements to ensure optimal performance of the Marvelmind
Indoor Navigation System:
For 3D (X, Y, Z) tracking: an unobstructed line of sight (hearing) between a mobile
beacon and 3 or more stationary beacons within 30 meters
For 2D (X, Y) tracking - an unobstructed line of sight (hearing) between a mobile
beacon and 2 or more stationary beacons within 30 meters

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3.3.2 Omni-Microphone-IP67
Omni-Microphone-IP67 is an advanced all-directions microphone for robots and
forklifts when the highest performance and the largest submaps are required.
- Omni-Microphone is an external microphone that can be used along with Super-
Beacons and Mini-RXs. On request, it can also be used along with Industrial-RX
and Industrial Super-Beacons. The later support in HW and SW, but additional
modification of housings is required
- It has a super-wide 360×360-degree beam, i.e. omni-directional pattern
- It is possible to enable and receive signal from any of the microphones separately,
thus, to disable a noise source from an unwanted direction, because the Omni-
Microphone consists of 4 external microphones back to back
- The Omni-Microphone is great for Direction + Location, for example, for robot’s
- It is highly recommended for larger submaps (25m+) or when a particularly
guaranteed and robust tracking of a forklift or similar mobile object on the largest
possible distance. See video below for more info about microphone diagrams
- The microphone is IP67 protected by special membranes and compound
- The microphone requires soldering. There are easy to use pins on the board and
connectivity is described in the Operating Manual
- Only one Omni-Microphone can be connected to a Super-Beacon or to a Mini-RX,
because, effectively, there are four microphones inside already
- The default cable length is 20-25cm. Optionally, it is possible to have the Omni-
Microphone with up to 1m-cable
- By default, the microphone is shipped with a 2mm-flexible cable ready for
soldering. On request, it can be supplied with a flexible mounting tube for easy
installation on a forklift or a robot –“antenna-like configuration”. Let us know about
your preferences and the desired length when ordering. There are other mounting
options as well

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3.3.3 Intel RealSense (Available in Standard and Advanced
configurations)
Inter RealSense gives additional functionality of positioning and safety if somehow
Marvelmind Indoor “GPS” isn’t available in some scenarios:
What new abilities it gives:
- Additional safety by Intel RealSense
- Addition option of positioning through Intel RealSense
- Other functions you may need (contact [e-mail] for details)

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3.4 Touch screen control
Touch screen gives advanced experience and control level of Marvelmind Boxie. It
complements hardware buttons on the robot.
What new abilities it gives:
- Displays information about current task (Future stage)
- Highlights goods code and delivery stage (Future stage)
- Displays statistics in real time
- Edit tasks and order (Future stage)
- Edit paths (Future stage)
- Displays whole map with robots and paths (Future stage)
- Other functions you may need (contact [e-mail] for details)

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3.5 Control system
The control system for Marvelmind Boxie is the same as control system for any Marvelmind
device (Dashboard app, included in the SW pack)
Visual Dashboard view (Check the video with https://youtu.be/xZ-jnoRNDE0)

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4.Robot’s controls and basic operations description
This chapter describes interactions with basic robot controls.
4.1 Back control panel
Function button 2 (Fn2)
Function button 1 (Fn1)
Hi-Current charging
port. Using to charge a
robot with Hi-Current
charging.
Charging port
6 USB ports. Can be
used to plug in a key
board or computer
mouse.
Also using for
flashing via USB.
HDMI port. Can be
used to connect a
screen
Reset
Power