Marvelmind v100 User manual
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Table of contents
1. Executive summary..............................................................................................................................4
1.1 Legend.........................................................................................................................................7
2. What’s in the box..................................................................................................................................8
2.1 Parcel 1: Disassembled Autonomous delivery robot without batteries ..........................................8
2.2 Parcel 2: Marvelmind batteries and charger .................................................................................8
3. System elements..................................................................................................................................9
3.1 Marvelmind Autonomous Delivery Robots....................................................................................9
3.1.1 Powertrain....................................................................................................................................9
3.1.2 Multi-shelves top ........................................................................................................................ 10
3.2 Marvelmind Indoor “GPS” system............................................................................................... 11
3.3 Control system ........................................................................................................................... 12
4. Robot’s controls and basic operations description .............................................................................. 13
4.1 Controls...................................................................................................................................... 13
4.1.1 Bottom control panel .................................................................................................................. 13
4.1.2 Top control panel........................................................................................................................ 13
4.1.3 Break lever................................................................................................................................. 14
4.2 Charging..................................................................................................................................... 15
5. Setting up the autonomous robots...................................................................................................... 16
5.1 Assembling the robot.................................................................................................................. 16
5.2 Test launch................................................................................................................................. 16
5.3 Launching robots in the custom map.......................................................................................... 21
6. Robot’s functionality ........................................................................................................................... 22
6.1 Obstacle avoidance and detection.............................................................................................. 22
7. Robot’s optional features.................................................................................................................... 24
7.1 QR-scanner................................................................................................................................ 24
7.2 Touch screen control.................................................................................................................. 25
8. Contacts............................................................................................................................................. 26
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Version changes
V2020_10_09
- Testing SW link added (Test launch chapter)
V2020_09_24
- Assembling the robot chapter described
- Testing launch chapter described
- What’s in the box chapter improved
V2020_03_19
- Initial release
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1.Executive summary
- Marvelmind Autonomous Delivery Robot is a fully autonomous, economically
viable, and safe delivery robot of small-size goods for warehouse, retail and
industrial applications
- Fully autonomous delivery between any points covered by Marvelmind Indoor
"GPS"
- Up to 60kg payload. Tested with up to 80kg
- Driving time more than 16h on a single charge
- Automatic obstacle avoidance and detection
- The delivery route can be reconfigured by 1 button click in 1 second
- Charging time is less than 4h. So, 2-shift work (16h) and 1 shift (8h) charging is
supported
- Re-configurable capacity: 1 large box of up to 65x65x160cm to up to 8 boxes
of 65x65x15cm - one shelf vs. multiple shelves
Marvelmind Indoor
“GPS” Navigation
module
Top: Customizable
multi-shelves
Base
Lidars
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- Up to 250 robots per system
- Reconfigurable multi-shelves top
- It is also can be equipped with QR-scanner to eliminate errors in the delivery
of goods
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Key specs:
Parameter
Technical Specifications
Navigation
Marvelmind Indoor “GPS”
Top speed
7km/h
Payload
60kg
Driving time
More than 16h on a single charge with 60+kg payload
Charging time
Less than 4h with quick charger
Safety
Lidars for emergency stop and obstacle avoidance
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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
This chapter describes contents of the box you receive buying the robot.
2.1 Parcel 1: Disassembled Autonomous delivery robot without
batteries
Marvelmind Autonomous delivery robot comes in two parts: box with base and other parts
and vertical beams (as shown on the pictures below)
How to assemble:
Help video: Autonomous Delivery Robot v100 - assembly guide
2.2 Parcel 2: Marvelmind batteries and charger
Batteries and charger come in the second parcel.
Use only Marvelmind supplied chargers
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3.System elements
3.1 Marvelmind Autonomous Delivery Robots
It 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,
high load capacity.
- Fully autonomous delivery unit from Marvelmind Robotics
- Can be flexible tuned with number of levels and cargos space
- Shockproof housing
- Bright lights
- Noticeable sound
- Programmable hardware buttons
- Base with multi-shelves top example:
3.1.1 Powertrain
Our team brought together capacious batteries, powerful motors and smart controllers
in one device, making it budget and very productive.
It gives the perfect balance between battery life and performance.
- Up to 16 hours driving with full payload of 60kg
- Emergency stops with breaks
- Suspension with smart weight distribution
- Recuperation (future optional)
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3.1.2 Multi-shelves top
Marvelmind delivery robot has customizable multi-shelf top. That means you can
configure it as you need, it comes with 3 shelves in its base configuration. If you need
more shelves –write to info@marvelmind.com.
- You can configure it as you need and change configurations in a minute.
- Up to 1650mm useful space height.
Loading cargo should be done starting from the bottom shelves ending with the top
ones for correct weight distribution and avoiding a rollover
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3.2 Marvelmind Indoor “GPS” system
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.
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3.3 Control system
The control system allows you to configure the system, receive various data, collect
statistics. The center of the control system is Dashboard. It communicates with the modem,
receives data from it, and can send data in various formats.
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4.Robot’s controls and basic operations description
This chapter describes interactions with basic robot controls.
4.1 Controls
4.1.1 Bottom control panel
4.1.2 Top control panel
On/off
Battery level
Reset
Continue along the route after
stopping
Stop/hand break
Hold for 3 seconds to turn off hand
break for rolling by hand
Go to assembly floor
Go to warehouse
Charging port
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4.1.3 Break lever
Break lever (on each wheel)
Lower for long parking, storage,
and charging. Lift before starting
work.
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4.2 Charging
Lower break levers and connect cable into charging port. Time until full battery is 5 hours.
Operating time at full battery is 16 hours.
Use only Marvelmind supplied chargers
Connect
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5.Setting up the autonomous robots
The steps below describe setting up the system with Marvelmind Autonomous Robots.
Notice that Marvelmind Autonomous Robots relays upon Inverse Architecture.
5.1 Assembling the robot
First thing after receiving and unpacking the robot –assembling.
How to assemble:
Help video: Autonomous Delivery Robot v100 - assembly guide
If you get any extra questions with assembling, you can write directly into
info@marvelmind.com.
5.2 Test launch
When you assemble the robot, you can start a testing launch process. Test launch is a
process of testing for Autonomous Delivery Robot v100. Test launch consists of 5
autonomous rides from point A to point B and back. If you are experienced enough, you
can skip this part and go forward to “Launching robots in custom maps” chapter.
When you received the Marvelmind Autonomous delivery robot, you also got 2 stationary
Super-Beacons and Modem.
It is included to make it possible to do a test launch of the robot and ensure that the robot
works correctly.
How to:
1) Place stationary beacons as described on the picture below
Top view
5m
5m
5m
Side view
3m
3m
Stationary beacon (Right)
Shall be placed on walls
on the height of 3m and
5m distance between
them
Robot’s path (Orange)
This is the initial testing
path which iscreated to
test the robot when it’s a
very first time to launch it
Stationary beacon (Left)
-
Shall be placed on walls
on the height of 3m and
5m distance between
them
Starting area (Ø≈2m)
Place robot into this area before
start
Point B
Point A
2.
Robot
1.
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2) Install and launch Marvelmind Robot Testing Dashboard SW
3) Connect Modem to your PC via USB
4) Place robot into starting area (If placed correctly –area colors green)
Make sure that you have enough space for the test launch.
5) When robot is ready to go and everything automatically checked by the system,
“Start robot” button will color green
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6) Press “Start robot” button to launch the robot
Robot will go through the testing path (from point A to B) and back five times
- To pause the movement –press “Press to pause”button while moving
- To continue the movement –press “Press to continue” button while stopped
- To stop the movement –press “Stop robot” button
7) Test launch complete. Now, you can build your custom maps and launch the robot
in it
Robots from the first batch (Robot 02 and Robot 03) come with not pre-flashed SW for
stationary Super-Beacons. The initial steps before the test launch:
1) Flash left-side Super-Beacon on the robot via Dashboard (Open Dashboard ->
Firmware -> Upload firmware), press Default button (In the right bottom corner)
and apply following settings:
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2) Flash right side Super-Beacon on the robot via Dashboard (Open Dashboard ->
Firmware -> Upload firmware), press Default button (In the right bottom corner)
and apply following settings:
3) Flash left-side Stationary beacon via Dashboard (Open Dashboard -> Firmware ->
Upload firmware), press Default button (In the right bottom corner) and apply
following settings:
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4) Flash left-side Stationary beacon via Dashboard (Open Dashboard -> Firmware ->
Upload firmware), press Default button (In the right bottom corner) and apply
following settings:
5) Flash Modem via Dashboard (Open Dashboard -> Firmware -> Upload firmware)
6) Now, continue with instructions given in the beginning of the chapter
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