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Marvelmind Boxie 2 Operating Manual

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Marvelmind Boxie 2
Operating manual
v2024-09-03
www.marvelmind.com
www.boxie.fi

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Summary of Contents for Marvelmind Boxie 2

  • Page 1 Marvelmind Boxie 2 Operating manual v2024-09-03 www.marvelmind.com www.boxie.fi...

  • Page 2: Table Of Contents

    2.3 Advanced configuration ..............................15 3. Hardware System elements ..............................16 3.1 LIDARs .................................... 19 3.1.1 Placement ................................19 3.2 Marvelmind ultrasound indoor positioning system ...................... 20 3.3 Omni microphone ................................. 21 4. Main Computer ................................22 4.1 Bluetooth ................................23 4.2 Wi-Fi ..................................
  • Page 3 14.3 Flashing via USB ................................42 15. Setting up the autonomous robots ............................43 15.1 Test launch .................................. 43 15.2 Launching Boxie 2 in the custom map ......................... 46 15.3 Dashboard. Robot detailed settings ..........................47 16. Main settings and information ..........................47 16.1.1 Motors ................................
  • Page 4 Version changes V2024_09_03 Minor polishing V2024_02_15 Changed to Boxie2 – new Marvelmind robot V2022_09_06 Chapter 5.8 Dashboard. Robot detailed settings updated Chapter 6.1 High-level robot control added V2022_08_17 Chapter 3 updated Minor improvements V2022_08_12 Section 1.1 What is the Robot Boxie used for added Section 3.6 Chassis.
  • Page 5 V2021_02_04 Initial release...

  • Page 6: Executive Summary

    1. Executive summary Marvelmind Boxie 2 is an autonomous mobile robot designed for smart warehousing, industrial applications, research, and education Fully autonomous move between way points covered by Marvelmind Indoor "GPS" Payload capacity up to 10kg Driving time up to 8h on a single charge (no payload)
  • Page 7 Key specs: Parameter Technical Specifications Navigation Marvelmind Indoor “GPS” + Camera + 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) ≤2h hours with optional charger (Hi-power Marvelmind charger) Charging time <6h hours (with supplied charger by default)

  • Page 8: Legend

    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...

  • Page 9: Typical Use Cases

    1.2 Robot Boxie. Typical use cases Marvelmind Boxie 2 is an autonomous mobile robot designed for smart warehousing, industrial applications, research and education. Learn more in this video: Boxie 2 - autonomous robot - detailed (33'40'') review...

  • Page 10: Inspection

    Inspection 1.2.1 Autonomous (daily, nightly, hourly, etc.) inspection with optional cameras and additional measurement devices. See an example in this video: Autonomous driving - basic demo...

  • Page 11: Education And Research

    Education and research 1.2.2 Good for universities. Robot Boxie 2 has a vast number of interfaces, power supplies and research capabilities. It offers 12V&2A, 5V&2A power supplies and ground switch 2A. Raspberry Pi and Odometry interfaces. WiFi, Bluetooth, HDMI and USB ports. Boxie 2 is like a computer on wheels.

  • Page 12: Autonomous Delivery

    Autonomous delivery 1.2.3 Autonomous delivery of goods or baskets with goods/tools/inventory in warehouses, assembly plants (expensive gauges and similar), chemical plants (samples, etc.). Check the video: − Autonomous robot Boxie 2 carries up to 10kg...

  • Page 13: What's In The Box

    There are 3 types of Boxie 2 configuration: Basic – Boxie 2 with charger and without charging station Standard – optimal Boxie 2 configuration – includes charging station Advanced – the most rich configuration: includes Marvelmind ultrasound positioning system, training course and extended warranty Basic...

  • Page 14: Basic Configuration

    Basic configuration This configuration is for users who already have charging stations and want to acquire more robots without adding additional stations. Robot Boxie 2 Basic Charger 5A...

  • Page 15: Standard Configuration

    Standard configuration This configuration is recommended for users, who already have ultrasound Marvelmind indoor positioning system kit and want to play around with Boxie 2 robot. Robot Boxie 2 Standard Charger 5A Charging station...

  • Page 16: Advanced Configuration

    Advanced configuration This configuration is suitable for users without previous experience. This kit includes basic ultrasound Marvelmind indoor positioning system, standard Boxie 2 kit, introductional course and a warranty. Robot Boxie 2 Charger 5A Charging station Extended warranty 5 x Super-Beacon...

  • Page 17: Hardware System Elements

    3. Hardware System elements In this chapter are represented core elements of Marvelmind Boxie 2. What included in Marvelmind Boxie 2, how it looks like, how it works, how to use it. In this chapter you will get acquainted with the hardware part of the robot.
  • Page 18 Rear view: Check the video: Boxie 2 - autonomous robot - detailed (33'40'') review...
  • Page 19 Bottom view: Boxie 2 has guide cup and charging contacts, that was added for Charging station. Boxie 2’s wheels are easy replaceable.

  • Page 20: Placement

    Location of Lidars This section describes connections and placement of LIDAR system. This system provides an obstacle-detection function. Placement 3.1.1 LIDARs are located around the perimeter, each of them has viewing angle up to 27 degrees. LIDARs only react on objects that reflect infrared light in a distance up to 4 meters. It can’t be use to avoid clear glass.

  • Page 21: Marvelmind Ultrasound Indoor Positioning System

    Marvelmind ultrasound indoor positioning 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.

  • Page 22: Omni Microphone

    3.3 Omni microphone 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.

  • Page 23: Main Computer

    Main Computer In Boxie 2 Raspberry Pi Zero 2 W is used. Main computer supports: Bluetooth Wi-Fi SD card 40pins of Pi Zero 2W – standard interface Camera HDMI port Rasp berry...

  • Page 24: Bluetooth

    Rasb perry Bluetooth Bluetooth allows communication with external devices. Supports by hardware. Software related will be provide in future update.

  • Page 25: Wi-Fi

    Wi-Fi Wi-Fi is used for fast data transfer, for debugging, for transfer of volume data, for example – visual data. For obstacle detection, image recognition and similar tasks. Rasp berr y Pi...

  • Page 26: Mini Hdmi Port

    Mini HDMI port HDMI Port Raspberry PI Zero 2 W offers Mini HDMI port, which can be used to connect a display. It is propagated as HDMI port to the outside of a robot for convenience. Used for debugging, research and development.

  • Page 27: Up-Facing Camera

    Up-facing Camera Boxie 2 is equipped with the camera internally connected to Raspberry Pi. Camera Up-facing camera is used for optical robot positioning using ArUCO tags. May be used together with Top lights – bright LEDs, lighting tags in dark environments.

  • Page 28: Sd Card

    SD Card Raspberry Pi, which is used in Boxie 2, uses SD card to store operating system image and data. Boxie 2 offers easy access to this SD card. SD Card comes preinstalled into Boxie 2 Main computer’s SD card slot. It stores Raspberry Pi operating system and low-level Marvelmind software, needed for robot functioning.

  • Page 29: Odometry Board

    3.10 Odometry board Odo board stands for Odometry board. It takes low level operations that are too fast for a main computer. Odo controls the motor controllers. A special processor helps to process data and motion algorithms and controls motors. Also on it are the components responsible for lighting, for obstacle detection control and LIDAR board.

  • Page 30: Battery And Chargers

    3.11 Battery and Chargers Boxie 2 is equipped with a Li-ion polymer battery. Batteries 12V-battery with different internal capacity from 40Wh to 100Wh 5A charger Optional external batteries Current and voltage sensing (also available via API)

  • Page 31: Charging

    3.12 Charging One of the main Boxie 2 features is the Charging station. Robot can automatically drive to a station and charge. Charging station is used with the default charger, supplied with the robot. Boxie 2 is equipped with 12V & 5A charger Charging time: approx.

  • Page 32: Speakers

    3.13 Speakers Speakers used to inform a user about Boxie2 state. Boxie2 has two speakers in stereo mode. Right speaker Left speak User can turn off and on notifications – either particular types of notifications or all at once.

  • Page 33: Lights

    3.14 Lights Boxie 2 has top and front lights. Top lights are used to help up-facing camera detect positioning tags in dark environments. Front lights are used mainly for people. Both lights may be used for debugging and interfacing. Read more in Communication chapter.

  • Page 34: External Interfaces

    3.15 External interfaces Boxie- 2 has the following interfaces, which are all available to the User: Raspberry Pi Zero 2 W standard 40-pin interface Odometry 40-pin interface: UART Power output: +12V 2A; +5V 2A GND switch HDMI (for Raspberry Pi) Stereo sound Buzzer LEDs –...
  • Page 35 Boxie 2 odometry board offers a great interaction possibilities. Currently implemented pins are: PWM0, PWM1 – pulse-width modulation RST1 – reset Ground – ground +12V_IN – 12 volt input +5V – 5 volt internal power supply VCC_3V – 3 volt internal power supply +5V_PI –...
  • Page 36 Raspberry Pi pinout is standard.

  • Page 37: Chassis. External Interfaces

    3.16 Chassis. External interfaces. Boxie 2’s chassis is designed for ease installation of the most popular development boards such as Arduino and Raspberry. There are mounting holes on a chassis’ cup. The mounting process is simple: install M3 stands on it and place...
  • Page 38 Raspberry Arduino Uno Arduino Mega...

  • Page 39: Software Elements And Functions

    4. Software elements and functions In this chapter described the main software system elements and functions of the Robot Boxie 2. Control system There are two ways to control Marvelmind Boxie 2 system. Via dashboard In this way Boxie 2 controls with Marvelmind Indoor “GPS”.

  • Page 40: Obstacle Detection And Avoidance

    5. 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. To avoid false alarms, this distance is limited to a meter, which allows the robot to stop and decide to avoid obstacle.

  • Page 41: Communication

    Communication There are two ways how Boxie 2 can communicate with people:...

  • Page 42: Sound

    This functions are supported by speakers. With the help of this sound, the robot warns people about the approach. With the voice it informs about the current processes of the Robot Boxie 2, as written path, flashing, start of a ride and similar actions.

  • Page 43: Setting Up Boxie 2

    This chapter shows how to use SW Pack for Boxie 2 *Copy this folder to USB drive, connect it to Robot and press Reset button. After that Boxie 2 will flash by itself. **Use HEX.files to flash devices via Dashboard. It’s possible to flash via USB and radio. Flash mobile beacons via...

  • Page 44: One-Time Flash, For Sw Version From 7.000

    One-time flash, for SW version from 7.000 Do this only once, for your Robot Boxie 2. After this disassembling is not needed, SW flashes via USB. How to: Pull out the SD Card from SD Card slot Download the latest Boxie 2...

  • Page 45: Flashing Via Usb

    Flashing via USB After one-time flash, Robot Boxie 2 flashing via USB. Follow steps below to flash Robot Boxie 2 via USB 1) Download latest SW pack for Boxie 2 from Marvelmind website https://marvelmind.com/download/ 2) Copy all files from usb_flash folder to USB drive 3) Insert USB drive to Robot Boxie 2 and press reset button 4) After reset, Boxie 2 will say “Main computer updated successfully”...

  • Page 46: Setting Up The Autonomous Robots

    When you receive flashed the robot, you can start a testing launch process. Test launch is a process of testing for Marvelmind Small Robot. Test launch consists building a simple map and a simple path for robot. If you are experienced enough, you can skip this part and go forward to “Launching robots in custom maps”...
  • Page 47 (Chapter 5.0) and build up a simple 2D map and Freeze Submap: 2. Wake up the beacons which are written on the bottom of the Boxie 2 3. Click on the leading beacon (By address) and click on the “Movement path” button (see the picture below)Robot will appear on the map.
  • Page 48 1) Press on “Write path”Control panel for robot will open: 2) Use Shift + Left Click to draw a point of path. And Shift + Left Click on point to remove already existed point. Draw the path, as shown in the picture below: 3) Press “Run”.

  • Page 49: Launching Boxie 2 In The Custom Map

    When you made a test launch of the robot and succeed, you can build more complex maps and launch the robot in How to: Set up the Marvelmind Indoor “GPS” system. It’s detailed described in the Operating Manual Turn on Boxie 2 and wait for 1 minute ConfigurateConfigure paths and start/end points (Use Shift+Left mouse button click to create point, click on point –...

  • Page 50: Dashboard. Robot Detailed Settings

    Dashboard. Robot detailed settings This bar allows user to adjust device precisely. It contains a lot of parameters for advanced usage. Choose Robot in robots list, to see Robot detailed settings: 10. Main settings and information User can see robot’s settings, parameters and firmware versions in settings window, which is located on the right side of Dashboard program.

  • Page 51: Motors

    Motors 10.1.1...

  • Page 52: Speed Control Settings

    Speed control settings 10.1.2 Table power mode Successive approximation Constant power...

  • Page 53: Rotate: Speed Control Mode

    Rotate: Speed control mode 10.1.3...
  • Page 54 10.1.4 Run/brake Rule based mode 1 Successive approximation Constant power...
  • Page 55 Table power...

  • Page 56: Angle Control Mode

    Angle control mode 10.1.5 Mode 2...

  • Page 57: Ekf

    10.1.6 Odometry + Ultrasound Odometry only (no EKF) Ultrasound only (no EKF)

  • Page 58: Robot Control Panel

    10.2 Control Panel for robotRobot control panel Robot control panel allows to control robot manually, check robot path waypoints, see its versions and parameters and so on. To open Robot control panel, go to Tools → Robot control panel, or Left click on a robot (either on a map or on its address) →...

  • Page 59: Advanced Features

    SW Pack for Boxie 2. The commands are executed one after the other from top to bottom. After pressing the Run button, the commands are sent to the robot, after which it says 'Path loaded'. It then says...
  • Page 60 Command name General format Command example Comment W01(1000,2000, 0) 1. For the Boxie 2 robot, Z coordinate Here: can be anything, for example 0. 01 - point number Reserved for robots that can move in 1000 - X coordinate of the...

  • Page 61: Contacts

    13. Contacts For additional support, please send your questions to info@marvelmind.com...

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