Description

An IP67 version of Starter Set HW v4.9-IMU for outdoor and industrial applications.

The set supports Non-Inverse Architecture (NIA). See more in Architectures Comparison – mobile beacon is transmitting ultrasound and stationary beacons are receiving ultrasound.

Note, that the same HW could be also used in Inverse Architecture after uploading Inverse Architecture SW to each of the network elements (modem, stationary and mobile beacons).

 

Content:

 

Use cases:

  1. For 3D outdoor: one autonomous robot/drone or tracking of one forklift or another object & covered area of up to 1,000 m2
  2. For 2D outdoor: one autonomous robot or tracking of one forklift or another object & covered area of up to 1,500 m2

Further expansion:

Industrial-RX and Industrial-TX have 6D IMU (3D gyroscope + 3D accelerometer) inside.

The Industrial-RX beacons – the stationary beacons of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Industrial-RX is an RX-only beacon, i.e. it can receive, but it cannot transmit ultrasonic signal. The fact that it is an RX-only makes it more sensitive, i.e. you will get a longer range between Beacon HW v4.9 and the Industrial-RX than between Beacon HW v4.9 and Beacon HW v4.9. Industrial-RX have the same ultrasonic performance than Mini-RX, but have additional functionalities:
    • External antenna for larger radio coverage and support of 433MHz band
    • Additional external interfaces: RS485, UART. Optional – CAN
    • External power supply (+5V or +12V) for permanent supply or for long-life batteries – up to 1-3 years (depending on the update rate and size of the battery)
  • The Industrial-RX beacons can receive any ultrasonic frequency from the bands: 19kHz, 25kHz, 31kHz, 37kHz, 45kHz, 56kHz. The filter can be simply selected in the Dashboard. At the same time, the working ultrasonic frequency of Beacon HW v4.9 is HW-defined by ultrasonic sensors and can’t be changed
  • The Industrial-RX beacons can receive several ultrasonic frequencies at once. That is used in Inverse Architecture. See the comparison
  • The Industrial-RX beacons are very solid and rigit, than Beacon HW v4.9. For more, check the Beacons Comparison table
  • The Industrial-RX beacons can work with regular Beacons HW v4.9 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

The Industrial-TX beacon – the mobile beacon of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Industrial-TX is IP67-protected and rigid beacons for outdoor applications
  • It is a TX-only beacon, i.e. it can transmit, but it cannot receive ultrasonic signal. Industrial-TX has about the same ultrasonic performance as Beacons HW v4.9
  • It has additional functionalities:
    • Additional external interfaces: RS485, UART. Optional – CAN
    • It is >10 times more energy efficient than Beacons HW v4.9 per location update, i.e. battery lifetime of Industrial-TXcons would be significantly longer than that of HW v4.9. It is a complex parameter and depends on several settings (location update rate, enabled sensors in HW v4.9, etc.)
    • External power supply (+5V or +12V) for permanent supply or for long-life batteries – up to 1-3 years (depending on the update rate and size of the battery)
  • The Industrial-TX beacons transmit in 25kHz, while default frequency for HW v4.9 is 31kHz. Note, that there are Beacons HW v4.9 with the following frequencies available: 19kHz, 25kHz, 31kHz, 45kHz. As of now, for 915MHz band only. On request, can be produced for 433MHz too (6 weeks).
  • The Industrial-TX beacons can work with regular Beacons HW v4.9-25 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), drones and forklifts. It can also be used to track other objects that the mobile beacon is installed upon, for example, virtual reality (VR) systems, helmets for construction workers or miners, jackets, etc.

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (915- or 433MHz). The location of the mobile beacon is calculated based on the propagation delay of an ultrasonic signal (Time-Of-Flight or TOF) to a set of stationary ultrasonic beacons using trilateration.

Key requirements for the system to function properly:

  • For 3D (X, Y, Z) tracking – An unobstructed line of hearing/sight by a mobile beacon to three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed line of hearing/sight by a mobile beacon to two or more stationary beacons simultaneously
  • Distance to the nearest 2 or 3 beacons – not more than 30 meters (recommended). In ideal conditions – up to 50 meters

Distance between beacons

  • Reaches up to 50 meters in lab conditions
  • Recommended distance is up to 30 meters
  • Distance between modem and beacons can be up to a few hundred meters in open space and depends on external interference, antenna alignment and chosen radio profile

Coverage area

  • Reaches up to 1000 m2 with the Starter Set configurations
  • Coverage for larger territories is provided similar to cellular networks – by adding more stationary beacons

Location precision

  • Differential precision: ±2 cm
  • Absolute: 1–3% of the distance to the beacons. Can be further significantly minimized by calibration

Location update rate

  • 0.05–25Hz
  • Can be set manually or in automatic mode
  • Depends on the distance between the mobile and stationary beacons (shorter distance — higher update rate)
  • Depends on the number of mobile beacons: for example, update rate of 25Hz for 1 mobile beacon will result in update rate of 25Hz/2 for 2 mobile beacons, and 25Hz/3 – for 3 mobile beacons, etc. – TDMA approach
  • Depends on the radio interface profile (500kbps vs. 38kbps)

Radio connectivity

  • ISM bands: either 915MHz (US) or 433MHz (EU)
  • <10mW (<10dBm)
  • Default 50mm antennas. Optional full-size 165mm antennas for 433MHz band

Power supply

External:

  • +5V or +12V – recommended for permanent use
  • Optional ~110/220V to +12V IP67 converter
  • External battery is possible and supported. The battery lifetime totally depends on the settings of the system and type of the beacon. For example, for Industrial-TX:
    • Calculated expected: 15Wh for 2y & 1/5Hz, i.e. 1.25Ah & 12V battery
    • Nearly directly depends on the update rate, i.e. for 1Hz update rate, the battery lifetime will be 1/5 of that above

Description

An IP67 version of Starter Set HW v4.9-IMU for outdoor and industrial applications.

The set supports Non-Inverse Architecture (NIA). See more in Architectures Comparison – mobile beacon is transmitting ultrasound and stationary beacons are receiving ultrasound.

Note, that the same HW could be also used in Inverse Architecture after uploading Inverse Architecture SW to each of the network elements (modem, stationary and mobile beacons).

 

Content:

 

Use cases:

  1. For 3D outdoor: one autonomous robot/drone or tracking of one forklift or another object & covered area of up to 1,000 m2
  2. For 2D outdoor: one autonomous robot or tracking of one forklift or another object & covered area of up to 1,500 m2

Further expansion:

Industrial-RX and Industrial-TX have 6D IMU (3D gyroscope + 3D accelerometer) inside.

The Industrial-RX beacons – the stationary beacons of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Industrial-RX is an RX-only beacon, i.e. it can receive, but it cannot transmit ultrasonic signal. The fact that it is an RX-only makes it more sensitive, i.e. you will get a longer range between Beacon HW v4.9 and the Industrial-RX than between Beacon HW v4.9 and Beacon HW v4.9. Industrial-RX have the same ultrasonic performance than Mini-RX, but have additional functionalities:
    • External antenna for larger radio coverage and support of 433MHz band
    • Additional external interfaces: RS485, UART. Optional – CAN
    • External power supply (+5V or +12V) for permanent supply or for long-life batteries – up to 1-3 years (depending on the update rate and size of the battery)
  • The Industrial-RX beacons can receive any ultrasonic frequency from the bands: 19kHz, 25kHz, 31kHz, 37kHz, 45kHz, 56kHz. The filter can be simply selected in the Dashboard. At the same time, the working ultrasonic frequency of Beacon HW v4.9 is HW-defined by ultrasonic sensors and can’t be changed
  • The Industrial-RX beacons can receive several ultrasonic frequencies at once. That is used in Inverse Architecture. See the comparison
  • The Industrial-RX beacons are very solid and rigit, than Beacon HW v4.9. For more, check the Beacons Comparison table
  • The Industrial-RX beacons can work with regular Beacons HW v4.9 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

The Industrial-TX beacon – the mobile beacon of this set – differ from regular Beacons HW v4.9 in several ways:

  • The Industrial-TX is IP67-protected and rigid beacons for outdoor applications
  • It is a TX-only beacon, i.e. it can transmit, but it cannot receive ultrasonic signal. Industrial-TX has about the same ultrasonic performance as Beacons HW v4.9
  • It has additional functionalities:
    • Additional external interfaces: RS485, UART. Optional – CAN
    • It is >10 times more energy efficient than Beacons HW v4.9 per location update, i.e. battery lifetime of Industrial-TXcons would be significantly longer than that of HW v4.9. It is a complex parameter and depends on several settings (location update rate, enabled sensors in HW v4.9, etc.)
    • External power supply (+5V or +12V) for permanent supply or for long-life batteries – up to 1-3 years (depending on the update rate and size of the battery)
  • The Industrial-TX beacons transmit in 25kHz, while default frequency for HW v4.9 is 31kHz. Note, that there are Beacons HW v4.9 with the following frequencies available: 19kHz, 25kHz, 31kHz, 45kHz. As of now, for 915MHz band only. On request, can be produced for 433MHz too (6 weeks).
  • The Industrial-TX beacons can work with regular Beacons HW v4.9-25 in any combination as a part of a Starter Set or as a part of navigation systems and it is a superior RX-only replacement to HW v4.9. At the same time, since it is RX-only beacon, while the Beacons HW v4.9 is a universal dual-use beacon

Marvelmind Indoor Navigation System is an off-the-shelf indoor navigation system designed to provide precise (±2cm) location data to autonomous robots, vehicles (AGV), drones and forklifts. It can also be used to track other objects that the mobile beacon is installed upon, for example, virtual reality (VR) systems, helmets for construction workers or miners, jackets, etc.

The navigation system is based on stationary ultrasonic beacons that are united by radio interface in a license-free band (915- or 433MHz). The location of the mobile beacon is calculated based on the propagation delay of an ultrasonic signal (Time-Of-Flight or TOF) to a set of stationary ultrasonic beacons using trilateration.

Key requirements for the system to function properly:

  • For 3D (X, Y, Z) tracking – An unobstructed line of hearing/sight by a mobile beacon to three or more stationary beacons simultaneously
  • For 2D (X, Y) tracking – An unobstructed line of hearing/sight by a mobile beacon to two or more stationary beacons simultaneously
  • Distance to the nearest 2 or 3 beacons – not more than 30 meters (recommended). In ideal conditions – up to 50 meters

Additional information

Weight 0.025 kg
Dimensions 4.7 x 4.2 x 1.5 cm
Frequency

433 MHz (EU), 915 MHz (US)

Questions and Answers


Ribin mathee
1 month 17 days ago

Does this have ros support??

admin
1 month 16 days ago

We use the same format for streaming out from different types of beacons/modems. So, all systems in the Non-Inverse Architecture support ROS.
In coming releases, we will reach the same level of support for the Inverse Architecture as well.

Bart De Reu
1 month 13 days ago

Hi, i am very interested in these to guide a feeding robot in a barn. Will it not interfere with the lots of iron casing of the barn it self ?

admin
1 month 13 days ago

Yes, the system is pretty much designed for such applications.

Iron or any other material wouldn’t affect our system at all, because the system is not based on RSSI, like BLE/Bluetooth or WiFi. However, the system does require direct line of hearing/sight from mobile beacon on the robot to two or more stationary beacons within 30m. If provided, you will have precise +-2cm tracking in the barn for your robot.

admin
1 month 13 days ago

There is a Placement Manual to advise on beacons placement in different cases: https://marvelmind.com/pics/Marvelmind_Robotics_ENG_placement_manual.pdf