Indoor “GPS”

(with ±2cm precision)

For autonomous vehicles, robots,
drones, forklifts and humans
 Problem to solve

2
 Problem
• GPS does not work indoor:
1. no direct view to satellites
2. location precision is measured in meters rather than in centimeters
(required indoor)
• Other indoor navigation systems - UWB, Bluetooth beacons,
odometry, magnitometers, WiFi RSSI, laser triangulation,
optical, etc. - have their own serious limitations – usually,
either precision, or price, or size
• Without precise and timely knowledge of location,
autonomous navigation is impossible

3
 Solution

• Off-the-shelf ready-to-use indoor

navigation system based on stationary
ultrasonic beacons united by radio
interface in license-free ISM band
• Location of a mobile beacon installed on a
robot (vehicle, copter, human) is
calculated based on the propagation delay
of ultrasonic signal to a set of stationary
ultrasonic beacons using trilateration

4
 Indoor “GPS” (±2cm)
• Starter Set configuration:
• 1 mobile beacon – 99 EUR
• 4 stationary beacons – 4*99 EUR
• 1 router – 99 EUR
• All required SW included

Ready to use 3D (x, y, z) system for 499 EUR

Covers up to 1000m²
5
 Customers in 50+ countries
Selected customers

6
 Use case: Autonomous robots & drones
Marvelmind beacon
PM of India
Virtual reality for Automatic Modi and
BIM, quests, training delivery inside
and gaming large buildings
Ivanka Trump

Advertising robots with high-

tech charm - shows, shopping
malls, conferences, museums

Autonomous drones indoor

for inventory management,
video/photo, security
7
 Use case: mobile assets tracking
Use case:
- Tracking vehicles, buggies, trolleys, forklifts and other mobile assets in
tunnels, passenger and cargo areas of airports and warehouses

Problems solved:
- Speeding
- Accidents
- Broken equipment and goods
- Lost or underutilized mobile assets

Benefits:
- Precise knowledge of who is doing what and where => productivity increase
- Real-time data about speed, acceleration, position of the mobile assets =>
productivity increase
- Preventing accidents and decreasing insurance and other avoidable costs
8
 Use cases: mobile assets tracking
Marvelmind Dashboard for
system setup and monitoring:
https://marvelmind.com/dow
nload/

Analytics module –
Marvelmind Player:
Path of a forklift or human in - Forklift track at any given
real time with up to 4-8Hz recorded time
update rate - Peak speed
- Average speed
- Alarms of different sort
- Many more options for
Stationary beacons placed analytics based on request
every 10-30m on ceiling
(depends on warehouse,
shelves, etc.)

Map of a warehouse as a substrate and multiple zones

for alarms and triggers:
- Geo-fencing; no driving; driving; no speeding, etc.
9
 Use case: safety & productivity
Tracking workers’ location underground,
in metro or tunnels, on construction sites
or railways stations or under bridges
Use case:
• Underground / mining / metro
• Construction sites
• Large manufacturing factories
• Dangerous manufacturing
• Oil refineries and gas companies

- Increasing productivity
- Improving safety
10
 Use cases: safety & productivity
System capabilities:
• Tracking of workers/vehicles indoor, underground or outdoor with up to ±2cm precision
• Optional various triggers and alarms, for example:
• Geo-fencing – automatic alarm, when mobile beacon/helmet/worker/vehicle exits a permitted zone or
enters a restricted zone
• Possibility to set time for trigger activation or violation distance
• Alarms based on position of a mobile beacon/helmet – no activity, strange position, too high
acceleration, free fall, etc. Helmet with installed
• Embedded Player with a possibility to play recorded measured location track of any mobile beacon at any mobile beacon
given date and time
• Many different optional analytics and statistics: average speed, maximum speed, running time, no activity
time, etc.
• Two-directional radio channel in ISM/SRD band (433MHz or 915/868MHz) – from mobile beacon to modem
and from modem to mobile beacon – for alarms, sensors, emergency button, route/task settings, etc.
• Different implementation options: Marvelmind Helmet, Marvelmind Jacket, etc.:
https://marvelmind.com/products/page/2/
• Possibility to have a combined Indoor “GPS” + regular GPS + Bluetooth

- Increasing productivity
- Improving safety
11
 Huge AGV, transport and people
Mobile Geofencing zone on AGV
Ind Super-Beacon
Navigation system’s Super-Modem: Configuration:
service zone - Central system controller. Collects data - 4 x Industrial Super-Beacon-Plastic (Placed
from all beacons, and sends them through on AGV)
an external 4G modem to the central - N x Marvelmind Headlight (1 per worker,
Dashboard placed on the helmet)
- 1 x Super-Modem (Placed on AGV)

Super-Modem

Principle of operation:
- The Marvelmind Indoor GPS system, where
the AGV is a mobile map, the entrance to
≤30m the Geofencing zone of which will warn the
person and operator about a dangerous
proximity, and also, at a critically
dangerous proximity, stop the AGV
Marvelmind
Headlight

Result:
- High precision tracking Marvelmind Indoor
GPS
- Alarm for workers and equipment drivers
Marvelmind Jacket - Recording violations in a CSV file for
further analysis
- AGV auto stop (optional)
Geofencing zone:
‐ Custom sizes and
Alarms:
options
‐ Visual
‐ Violation of the zone
‐ Vibration
leads to alarms
‐ Sound

Marvelmind
Helmet

Task: Solution:
- Prevent dangerous proximity of AGV and humans - Marvelmind Indoor GPS system installed directly on the AGV,
- Prevent AGV-Human Collision with a mobile geofencing zone
12
 Safety at the construction site, people
Static Geofencing zones at a construction site
Ind Super-beacon

Super-Modem: Navigation system’s Configuration:

Industrial - Central system controller. service zone - N x Industrial Super-Beacon-Plastic
Super-Beacon- Super-Beacon, Collects data from all (mounted on a tripods)
Outdoor,
or
mounted on a beacons, and sends them - N x Marvelmind Headlight (1 per worker,

Battery
mounted on a tripod through an external 4G placed on the helmet)
tripod Battery-12V- modem to the central
Direct visibility: - 1 x Super-Modem (placed in the center)
5Ah-Outdoor Dashboard
‐ For 2D tracking, a
prerequisite is the
Super-Modem presence of a mobile
beacon in the line of Principle of operation:
sight, at least up to - The Marvelmind Indoor GPS system in this
two stationary
configuration provides tracking of people
with customizable geofencing zones and
warns a person of approaching danger

Marvelmind
Headlight Result:
Alarms:
‐ Visual
- High precision tracking Marvelmind Indoor
‐ Vibration GPS
‐ Sound - Alarm for workers and shift supervisor
- CSV file with recording of all movements
during the shift
- Automatic recording of all violations in a
Marvelmind Jacket
file for further analysis (optional)

Geofencing zone:
‐ Custom sizes and
options
‐ Violation of the zone
leads to alarms
Marvelmind
Helmet

Task: Solution:
- To warn the employee's dangerous approach to the danger - Marvelmind Indoor GPS system installed on site with
zone, to obtain data on the movement of people customizable geofencing zones
13
 Precise 1D distance measurements for construction sites
Receiving beacon with Horn:
• Super-Beacon-Outdoor or
•
•
Beacon Industrial-RX or
Beacon Mini-RX-Outdoor or
• Ind. Super-Beacon
Task:
- Precise distance up to 100-
150m measurements indoor
or underground
- Precise distance
measurements in fog, dust or
through leaves with no direct
line of sight, but with sound
propagation
- Easy measurements without
laborious laser tuning
- Easy to set up and
inexpensive alternative to
RTK GPS
Configuration:
Alternative to: - 1 x Super-Beacon with Horn
- N x Super-Beacons
- Laser distance meters - 1 x Modem
- RTK GPS
50 m
Pros: Principles of operation:
- Precise (±2cm) 1D distance measurement
- Multiple points simultaneously from an ultrasound transmitting beacon to
an ultrasound receiving beacon using time-
- Attach & measure of-flight of ultrasound
- Streaming data with 3-16Hz update rate
- Multiple simultaneous trackers
- Various interfaces from UART, RS485 to BT
Result:
150 m - cm-level accuracy 1D distance measurement
without laser, for example, when it is not
feasible: fog, smog, too bright, leaves, etc.
- cm-level accuracy distance measurement
indoor or underground, when RTK GPS is not
available or unpractical (expensive)
- High precision tracking Marvelmind Indoor
GPS
- CSV file with all recording for analysis
- Automatic recording of all violations in a file
for further analysis (optional)

Receiving beacon with Horn: Transmitting beacon: Transmitting beacon with Horn:
• Super-Beacon-Outdoor or • Super-Beacon-Outdoor or • Super-Beacon-Outdoor or
• Beacon Industrial-RX or • Industrial Super-Beacon or • Industrial Super-Beacon or
• Ind. Super-Beacon • Beacon Industrial-TX • Beacon Industrial-TX

14
 Safety when working cranes and people
Mobile geofencing zone on crane boom
Ind Super-Beacon
Configuration:
- 3 x Industrial Super-Beacon-Plastic (placed
on the crane)
Base of beacons on the crane - N x Marvelmind Headlight (1 per worker,
>3m placed on the helmet)
Super-Modem: - 1 x Super-Modem (placed on the crane)
- Central system controller.
Super-Modem Collects data from all
beacons, and sends them
through an external 4G Principle of operation:
modem to the central - In this configuration, the end of the crane
Dashboard
boom is a card, the entrance to the
Cargo Geofencing zone of which will warn the
person and operator about a dangerous
proximity
Alarms:
‐ Visual
Marvelmind ‐ Vibration
Headlight ‐ Sound
Result:
- High precision tracking Marvelmind Indoor
Navigation system’s
GPS
service zone
- Alarm for workers and shift supervisor
- CSV file with recording of all movements
Geofencing zone: during the shift
‐ Custom sizes and - Automatic recording of all violations in a
Marvelmind Jacket
options file for further analysis (optional)
‐ Violation of the zone
leads to alarms

Marvelmind
Helmet
Solution:
Task: - Marvelmind Indoor GPS system installed directly on the crane
- Prevent dangerous approach and collision of cargo with a with a mobile geofencing zone, which moves after the crane's
person boom
15
 Tracking service staff
On the example of one floor of a shopping center
Super-Beacon Configuration:
- N x Super-Beacon (1 per restroom)
- N x Badge (1 per worker)
Server with report - N+1 x Super-Modem (1 per floor + 1
central)

Central Super-
Modem Result:
Restroom
- Automatic report on movements in the
Side view areas of responsibility of service employees
(CSV file)
- Auto-fill table (optional)

Reporting Table (Marvelmind)

‐ The report is generated by the Central
Super-Modem, and sent via Wi-Fi to your IP
address on request or in a pre-set time (for
example, nightly)
Worker 1 Worker 2 Worker 3
Time
(>80%) (>50%) (<50%)
Badge
8:00-8:15

9:00-9:15

11:00-11:15

20:00-20:15

21:00-21:15

22:00-22:15

23:00-23:15

Super-Modem

Task: Solution:
- Tracking service staff - Marvelmind Indoor GPS system for monitoring and analyzing
- Performance monitoring the work of service personnel in 1D configuration
16
 Logging safety
Static geofencing zone in the area of deforestation
Configuration:
Industrial - 1 x Industrial Super-Beacon (Mounted on a
Super-Beacon, tripod)
mounted on a - N x Marvelmind Headlight (1 per
tripod Service zone employee, located on the helmet)
Battery

Battery-12V- - 1 x Super-Modem (located within a radius

5Ah-Outdoor of 400 meters)
Access is allowed
Super-Modem

Access is denied
Principle of operation:
- The Marvelmind Indoor GPS system in this
configuration provides tracking of people
Alarms: with customizable geofencing zones and
‐ Visual warns a person of approaching danger
‐ Vibration 50m <400m
‐ Sound
Marvelmind
Headlight Result:
- High precision tracking Marvelmind Indoor
GPS
- Alarm for employees
- CSV file with recording of all movements
Super-Modem:
- Central system controller.
during the shift
Collects data from all - Automatic recording of all violations in a
Marvelmind Jacket
beacons, and sends them file for further analysis (optional)
through an external 4G
modem to the central
Geofencing zone: Dashboard
‐ Custom sizes and
options
‐ Violation of the zone
leads to alarms
Marvelmind
Helmet

Task: Solution:
- To warn the employee's dangerous approach to the danger - Marvelmind Indoor GPS with configurable geofencing zones
zone, to obtain data on the movement of people installed in dangerous areas
17
 Construction safety, people and technic
The General view of 3 teams: 3 excavators and 45 employees
Configuration for 3 teams:
Brigade: - 9 x 3 x Industrial Super-Beacon-Plastic (Located on
- 1 excavator excavators, 9 for each)
- 15 employees in
- 1 x 3 x Converter (for connecting stationary
Marelmind Jacket
beacons and Super-Modem to the onboard
excavator network)
- 15 x 3 x Marvelmind Jacket (1 per employee)
- 1 x 3 x Super-Modem (Located in the excavator
cabin)
Navigation system service area
‐ 3D tracking of the excavator boom
- 1 x 3 x Webcam (1 per excavator)
‐ 2D tracking of people around you - 1 x 3 x 4G modem (1 per excavator)

Principle of operation:
- The Marvelmind Indoor GPS system in this
configuration provides 3D tracking of the
excavator boom, as well as 2D tracking of people
around the excavator within a radius of 30m. The
system has customizable Geofencing zones and
allows you to warn a person about approaching a
danger, such as an excavator boom
Distance between excavators:
- Can be any, within the availability of communication via 4G
modem between modems and the Central office

Result:
- High-precision tracking of Marvelmind Indoor GPS
Geofencing zone: with customizable Geofencing zones
‐ Customizable dimensions and parameters - Alarm to employees and shift Manager
‐ Violation of the zone by an employee who does - Transmitting data to the Central server via the
Task: not have permission leads to alarms that are REST API using JSOW
- Track employee movements and violations Of displayed in real time and recorded in a log that - Automatic recording of all violations in a CSV file
geofencing zones in 2D during work to improve can then be played back
for further analysis
safety and productivity
- Track the running time as well as the number of
movements of the excavator boom in 3D to increase
productivity

18
 Construction safety, people and technic
Type of one team: 1 excavator and 15 employees
Industrial Super-Beacon Super-Modem: 4G modem:
- Fixed to the excavator and - Central controller of the system. - Located in the salon. Sends tracking Configuration for 1 team:
connected to the onboard Located in the salon. Collects data and data from the webcam to a
network using Converter- - 9 x Industrial Super-Beacon-Plastic (Located on the
data from all beacons and sends remote server
220V-12V-IP67 it via an external 4G modem to excavator)
the Central Dashboard - 1 x Converter (for connecting stationary beacons
and Super-Modem to the onboard excavator
network)
Industrial Super-Beacon
attached to the excavator
- 15 x Marvelmind Jacket (1 per employee)
and connected to the - 1 x Super-Modem (Located in the cabin of the
onboard network (2D excavator)
tracking of people around - 1 x Webcam (1 on excavator)
the excavator) - 1 x 4G modem (1 per excavator)
Super-Modem
- Located in the interior
of the excavator

Principle of operation:
- The Marvelmind Indoor GPS system in this
configuration provides 3D tracking of the
excavator boom, as well as 2D tracking of people
around the excavator within a radius of 30m. The
system has customizable Geofencing zones and
Customizable allows you to warn a person about approaching a
Geofencing zone danger, such as an excavator boom
Marvelmind Jacket
- Worn by an
employee
Result:
- High-precision tracking of Marvelmind Indoor GPS
with customizable Geofencing zones
- Alarm to employees and shift Manager
- Transmitting data to the Central server via the
REST API using JSOW
- Automatic recording of all violations in a CSV file
Geofencing zone: for further analysis
Task: ‐ Customizable dimensions
and parameters
- Track employee movements and violations Of
‐ Violation of the zone leads to
geofencing zones in 2D during work to improve alarms
safety and productivity
- Track the running time as well as the number of
movements of the excavator boom in 3D to increase
productivity Navigation system service area
‐ 3D tracking of the excavator
boom
‐ 2D tracking of people around you

19
 Non-Inverse Architecture (NIA)
Submaps: Mini-RX
– Advanced feature that allows building independent Beacon N
maps/clusters of beacons in separate rooms and thus
Mini-RX Beacon 1 covering large buildings (with area of thousands of
m2) similar to cellular network coverage

Stationary beacons: Distance between

– Mounted on walls or ceilings beacons-neighbors is
– Users have to measure distances between up to 25 meters.
stationary Mini-RX beacons manually Mobile beacon:
– Communicate with router wirelessly in – Installed on robot and interacts with it via UART Indoor Navigation System
ISM/SRD bands or SPI or I2C or USB consists of:
– Receives location update from router up to 25
– 2 or more stationary beacons
times per second
– 1 or more mobile beacons
Mini-RX Beacon 3
– May contain IMU (accelerometer + gyroscope +
– 1 central router
Mini-RX Beacon 2 compass module)

Key requirement for the system to work:
unobstructed sight by a mobile beacon of 2 or more
stationary beacons simultaneously (like in GPS)
Router/modem:
– Central controller of the system
– Calculates position of mobile beacon up to 25 Hz
– Communicates via USB/virtual UART with Dashboard or
robot

20
 Inverse Architecture (IA)
Submaps:
– Advanced feature that allows building independent
maps/clusters of beacons in separate rooms and
Beacon N
thus covering large buildings (with area of
thousands of m2) similar to cellular network (19, 25, 31,
Beacon 1 (19kHz) coverage 37, 45 kHz)
– In Inverse Architecture every submap must have
Stationary beacons: beacons with non-repeating ultrasound frequency
– Mounted on walls or ceilings – Available frequencies: 19, 25, 31, 37, 45 kHz Distance between
– In inverse system beacons belonging to the beacons-neighbors is
same submap should have different ultrasound up to 25 meters.
frequencies (19 & 25kHz or 25 & 31 kHz, for Mobile Mini-RX beacon(s):
example) – Installed on robot (human) and interacts with it
– Communicate with router wirelessly in
Indoor Navigation System
via virtual UART over USB consists of:
ISM/SRD band (433/868/915MHz) – Contains 3D IMU (accelerometer+gyroscope)
– 2 or more stationary beacons
– Beacon’s update rate doesn’t directly depend on
– 1 or more mobile Mini-RX beacons
the number of mobile beacons unlike in NIA
– 1 central router
– Calculates its location by itself – not by modem
– Recommended distance from mobile beacon to Beacon 3
Beacon 2 stationary ones up to 25m
(31kHz)
(25kHz)

Router/modem:
– Central controller of the system
Key requirement for the system to work:
– Communicates via USB/virtual UART with Dashboard or robot
unobstructed line of hearing/sight by a mobile
– Get location data from Mobile Mini-RX beacons
beacon to 2 or more stationary beacons
– Supports up to 250 beacons
simultaneously (like in GPS)
21
 Architecture comparison
Version 2019_07_26

Non-Inverse Architecture (NIA) Inverse Architecture (IA)

Typical use cases ‐ 1-4 autonomous robots/drones. Supported up to 250 beacons ‐ Many mobile users (people, robots, VR). Supported up to 250 beacons
‐ When mobile beacon shall be installed on a noisy vehicle, but stationary ‐ When mobile beacons are in quieter places
beacons are in quieter places

Not recommended ‐ In applications, where emitting ultrasound of mobile beacon is undesirable ‐ For drones, because mobile beacon is receiving ultrasound. The range may be
limited to just 2-5m. Special HW solutions and future SW releases will allow to
overcome the limitation

Precision ‐ ±2cm or better: https://www.youtube.com/watch?v=YAU-WXz26YY ‐ ±2cm or better: https://www.youtube.com/watch?v=OXetXiDyAZI

Location update rate ‐ Directly depends on the number of mobile beacons (n) as 1/n –TDMA
approach
‐ Slightly depends on the radio protocol, if low speed profile (38kbps, etc.)
‐ Depends on the sizes of submaps. Larger submap – lower update rate
‐ IMU fusion is HW and SW supported
‐ Does not directly depend on the number of mobile beacons
‐ Slightly depends on the radio protocol (the same as NIA)
‐ Depends on the sizes of submaps (the same as NIA)
‐ IMU fusion is HW-supported. SW support is coming

Ultrasonic range ‐ Up to 30m in real life and up to 50m in lab conditions within a submap, i.e. stationary beacons shall be placed every 30m or closer
‐ Can cover as large territory as you wish using submaps

Map building ‐ Can build a submap automatically, if HW v4.9 beacons are used. Mini-beacons ‐ Manual entry of stationary beacons’ location or distances between them is
cannot build the map, because they are TX-only required for Beacons HW v4.9, because they work on different ultrasonic
frequencies
‐ Super-beacons v6.0 allow automatic building of submaps (like in in NIA)

22
 Tunnel safety and performance
Multi-modem system for underground tracking
Marvelmind
Helmet Modem 1 radio coverage zone

Station 1 Beacon ultrasonic

coverage zone

Modem 2 radio
coverage zone
Badge

Tunnel
Super-Modem 1
Direct visibility
PC with Windows/Linux Station 2

Marvelmind
Headlight
Super-Super Modem
Super-Modem 2
Station N Stationary Super-Modem
beacons
≤ 60m
Converter-
Marvelmind 220V-12V-IP67
Jacket

Battery-12V-
≤30m 5Ah-Outdoor
Super-Modem N No direct visibility

Industrial
Modem N radio coverage zone Super-Beacon

23
 Beacons comparison

Beacon Mini-RX/Beacon Mini- Beacon Mini-TX

Beacon Mini-TX Super-Beacon/Super-Beacon-Outdoor Industrial-Super/Industrial-Super-EX Industrial-RX/Industrial-RX-EX
RX-Outdoor batteryless

Universal, multi-frequency and The lightest TX only Universal dual-use beacon. Support of Heavy-duty outdoor/Explosion dangerous Heavy-duty outdoor/Explosion dangerous
Specialty and main use Small TX only beacon
high-sensitivity RX-only beacon beacon 433- or 915/868MHz bands environment; RS485 or CAN environment; RS485 or CAN

Mode of operation RX only TX only Dual-use (RX and TX) Dual-use (RX and TX) RX only

- Up to 30m with Super- - Up to 30m with Super-Beacons

Range - Up to 30m with Super-Beacon - Up to 30m with Industrial-RX - Up to 30m with Ind. Super-Beacon
Beacons - Up to 30m with Beacon v4.9³

- 19/25/31/37/45kHz - 31/45kHz - 19/25/31/45kHz - 19/25/31/45kHz

Ultrasonic frequencies ‐ 19/25/31/45kHz
- Several at the same time - Only one HW defined frequency at the time - Only one frequency at the time - Several at the same time

Radio band 915/868MHz 915/868MHz 915/868MHz or 433MHz 915/868MHz or 433MHz 915/868MHz or 433MHz

Power/LiPol battery USB/750mAh USB/250mAh USB/No embedded battery USB/1000mAh +6..16V or IP67 converter/Ext.battery +6..16V or IP67 converter/Ext.battery

Environmental - Indoor/Outdoor up to IP67 - Indoor/Outdoor² - Indoor - Indoor/Outdoor² - Outdoor²/Intrinsically Safe⁵ - Outdoor²/Intrinsically Safe⁵
conditions - t=0..40C⁶ - t=0..40C⁶ - t=0..40C⁶ - t=0..40C⁶ - t=-20..40C⁶ - t=-20..40C⁶

Size and weight 47x42x15mm & 25g 35x35x26mm & 19g 35x35x20mm & 12g⁹ 55x55x33(64⁷)mm & 62/75g 83x58x65mm⁸ & 250g 83x58x33mm⁸ & 200g

IMU (3D gyro+acc+mag) Yes (6D) Yes (6D) Yes (6D) Yes (6D) Yes (6D) Yes (6D)

Price, EUR 99/129 89 89 99/129 149/189 149/189

1) Withstand submersion to water on 1m up to 30m (IPx7 requirements) 6) Temperature range down to -40C is available with external power supply only
2) IP56. Performance during this time is no guaranteed and upon request
3) 1D mode: RX4 to RX4 sensors; other sensors are disabled 7) With antenna
4) Other power options available upon request 8) Sizes without mounting holes
5) Exact type of certification shall be discussed separately 9) 6.3g without housing
24
 Industrial-TX-RS485

55mm
Ultrasonic Housing
transducer (25KHz) IP67 protection Connector 4-pin
(included)
12mm 60mm
Connector 7-pin
(included)

85mm

Specification
Mode TX-only beacon – can transmit ultrasonic, but Power connector Interface connector
can’t receive it

Protection IP67 (+EX optional) UART TX 3.3V (6) UART RX 3.3V (5)
Ultrasonic Special IP67-protected 25-kHz transducers
GND (1) +12V in (3)
frequencies RS485B (1)
Connectors Two IP67 external connectors
USB D+ (3)
Ultrasonic range Up to 30m with Industrial-RX
GND (7)
+3.3V out (2) +5V in (4)
Power External battery (15Wh for 2y & 0.2Hz) or Power USB D- (4) RS485A (2)
converter-IP67
25
 Industrial-RX-RS485
Microphone protected by Housing

33.5mm
IP67 membrane IP67 protection Connector 4-pin
(included)
12mm 60mm Connector 7-pin
(included)

85mm

Specification
Mode RX-only beacon – can receive ultrasonic, but can’t Power connector Interface connector
transmit it

Protection IP67 (+EX optional) UART TX 3.3V (6) UART RX 3.3V (5)
Ultrasonic Can receive 19/25/31/45 KHz; DSP filters
GND (1) +12V in (3)
frequencies RS485B (1)
Connectors Two IP67 external connectors
USB D+ (3)
Ultrasonic range Up to 25m with Industrial-TX
GND (7)
+3.3V out (2) +5V in (4)
Power External battery (38Wh for 2y & 1/5Hz) or or USB D- (4) RS485A (2)
Power converter-IP67
26
 Super-Modem-IP67-RS485
Housing
IP67 protection

33.5mm
Connector 4-pin
(included)
12mm 60mm

Connector 7-pin
(included)
Wi-Fi antenna

ISM/SRD Antenna

85mm

Specification
Mode Controller of the system
Interface connector
Protection IP67 (+EX optional)
Power connector
UART TX 3.3V (6) UART RX 3.3V (5)
Connectivity Two IP67 external connectors: GND (1) +12V in (3)
1) Power: +5V in, +12V in, +3.3V out
2) RS485 or CAN, UART, USB (+PLC) RS485B (1)
Wifi + BT (+optional 2G/3G/LTE) USB RX (3)
License-free radio (915MHz or 433MHz)
GND (7)
Capacity Up to 255 beacons +3.3V out (2) +5V in (4)
USB TX (4) RS485A (2)
Power Power converter-IP67 – up to 1W

27
 Mini-RX-IP67

Mini-RX-IP67
- Very small tracker: 44x40x13mm – 4 times smaller volume than Beacon HW v4.9
- Supports versatile usage: Helmet, Jacket, Badge, Watch
- Long battery lifetime: 12h-1month – depending on usage. USB charging – 1-2h
- Outdoor and indoor usage. Embedded antenna. Very robust
- Order: https://marvelmind.com/product/mini-rx-ip67/
28
 Marvelmind Watch

15mm
42mm
Demo:
- https://www.youtube.com/watch?v=YkiMCIOamPs

Housing
Watch-like
Digital microphone

47mm

- Order: https://marvelmind.com/product/watch/

Specification
Mode RX-only – can receive ultrasonic, but can’t transmit

Protection Not protected or IP67 (optional)

Ultrasonic
frequencies
Can receive 19KHz/25KHz/31KHz/45KHz (1 mic)
Can be extended with future updates
Watch strap mount
Mounting Watch strap

Ultrasonic range Up to 25m to 2 nearest stationary beacons

Power Internal battery (12h-1month – depending on

usage)

29
 Marvelmind Badge
Extended microphone 1 Extended microphone 2

15mm
42mm
Demo:
- https://www.youtube.com/watch?v=bZKJ_EQQHCU
Strap

47mm

- Order: https://marvelmind.com/product/badge/

Specification
Mode RX-only – can receive ultrasonic, but can’t transmit
Housing
Protection Not protected or IP67 (optional)

Ultrasonic Can receive 19KHz/25KHz/31KHz/45KHz (1 mic)

frequencies Can be extended with future updates

Mounting Badge + additional external microphones for better

tracking

Ultrasonic range Up to 25m to 2 nearest stationary beacons

Power Internal battery (12h-1month – depending on

usage)
30
 Marvelmind Helmet
Housing Extended microphone

Helmet

Demo:
- https://www.youtube.com/watch?v=Q6v6boq24Zw

- Order: https://marvelmind.com/product/marvelmind-helmet/

Specification
Mode RX-only – can receive ultrasonic, but can’t transmit

Protection IP33 to IP67 (optional)

Ultrasonic Can receive 19KHz/25KHz/31KHz/45KHz (1 mic)

frequencies Can be extended with future updates

Mounting Inside the helmet

Ultrasonic range Up to 25m to 2 nearest stationary beacons

Power Internal battery (12h-1month – depending on

usage)

31
 Marvelmind Jacket
Extended microphone 1

Extended microphone 2

15mm
42mm Housing
Demo:
- https://www.youtube.com/watch?v=A8qD6GaJDIY
- https://www.youtube.com/watch?v=I53mEx7lQ-0 Jacket

47mm

- Order: https://marvelmind.com/product/marvelmind-helmet/

Specification
Mode RX-only – can receive ultrasonic, but can’t transmit

Protection IP33 to IP67 (optional)

Ultrasonic Can receive 19KHz/25KHz/31KHz/45KHz (1+2 mics)

frequencies Can be extended with future updates

Mounting Special jacket with external microphones

Ultrasonic range Up to 25m to nearest beacons

Power Internal battery (12h-1month – depending location

update rate and usage)

32
 Marvelmind Headlight External battery

Housing

15mm
42mm
Strap

External microphone 2

External microphone 1
Helmet

47mm

Specification
Mode RX-only – can receive ultrasonic, but can’t transmit

Protection IP33 to IP67 (optional)

Ultrasonic Can receive 19KHz/25KHz/31KHz/45KHz (1+2 mics)

frequencies Can be extended with future updates

Mounting Special helmet strap with microphones and battery

Ultrasonic range Up to 25m to nearest beacons

Power Extended battery lifetime with external batteries

33
 Thank you!

Marvelmind Robotics
Marvelmind Inc. Marvelmind OÜ Marvelmind2 LLC
1111 W El Camino Real #109-365 Ahtri tn 12, Kesklinna linnaosa, Skolkovo Innovation Center
Sunnyvale CA Harju maakond, Lugovaya str., 4 bld 5 room 17
94087 Tallinn, 10151 Moscow, 143026
USA Estonia Russian Federation

info@marvelmind.com
https://marvelmind.com/#watch_demo – selected video demos
https://marvelmind.com/#customers – selected customers

34
 Additional slides

35
Marvelmind Robot v100
An autonomous delivery robot for smart
warehousing and industrial applications

Up to 100 kg payload
>16h drive time
3,990 EUR
 Idea
‐ Fully autonomous, economically viable, and safe delivery
robot of small-size goods for warehouse, retail and industrial
applications
‐ Flexible, modular and pragmatic approach
‐ Predictable and reliable delivery from point A to point B just in
time
‐ Reduced dependence on labor

37
 Problem to solve
Bulky
Dangerous fork

‐ Usual autonomous guided vehicles

(AGVs) are bulky, expensive,
Expensive complex to integrate and rather
dangerous to use. If an AGV is not
expensive, then it is, usually, very
Bulky inflexible in terms delivery routes
Expensive LIDARs (up to 4kEUR+) (magnetic wires on the floor)
‐ Many companies simply don’t find
it economically viable to employ
advanced AGVs => market remains
unserved and untapped

Expensive LIDARs (up to 4kEUR+)

38
 Solution: Autonomous Delivery Robot

Inexpensive Indoor
“GPS” for
autonomous Human size
navigation

Flexible in size and

easy to assemble Baskets or boxes for goods
and maintain frame

QR scanner holder Robot’s base with main

controller, battery and
Very cost efficient –
multiple sensors, control
base robot price -
buttons
3,990 EUR

39
 Key benefits of Marvelmind
Autonomous Delivery Robot
Fully autonomous delivery:
- Navigation and collision avoidance based on combination of Indoor “GPS” and several other
systems and sensors. Solid and reliable autonomous delivery of cargo from point A to point B

Cost efficient solution by design with little or no integration cost:

- Inexpensive Indoor “GPS” + IMU + odometry + optical for navigation and positioning instead of
costly LIDARs
- Multiple inexpensive 1D LIDARs as proximity sensors collision avoidance and safety
- No expensive 3rd party elements, no 3rd party SW or licenses or IP – only inhouse solutions

Small size and modular architecture:

- Simple and very customizable frame (“Ikea style”) with possibility to choose between different
shelves structure in minutes. Optional additional battery capacity. No dangerous fork
- Suitable for different robot’s height/width/length and cargo boxes/baskets’ sizes

40
 Use cases
Warehousing:
- Hassle-free delivery of goods between different parts of the warehouse or between storage areas and
loading/unloading/assembly areas. Reliable and fast goods delivery from point A to point B, C, D, etc. An assisting person
puts loaded baskets or boxes into the robot, press a single physical button B for address B and the rest of inhouse delivery is
done fully automatically by the robot

Industrial applications:
- Just in time and reliable delivery on assembly plants (automotive industry, factories, hospitals, chemical or pharmaceutical
plants, food industry, etc.) of small and medium size cargo of different size and shape

41
 Competition
‐ Inexpensive
‐ Versatile Bulky
‐ Light & Safe
‐ Only partial competition with AGV –
more complementary co-existence. AGVs
have different capabilities and serve
different needs
‐ Many regular AGVs players:
Kuka/Swisslog, Egemin, AGVE, Ward, JBT
etc. Relatively few established
competitors in autonomous delivery Dangerous Expensive
robots. Some made for own usage only
(Amazon/Kiva)
‐ Very little real competition in small-size
delivery robots
‐ Price and complexity of the total solution
is the decisive factor for adoption

Price: as low as 3,990 EUR instead of 40,000-100,000 EUR for regular AGV – 10-20 times less expensive
Size: much smaller and more versatile than regular AGV – human size or smaller
Usage: can be used where regular AGVs are simply not viable
42
 Autonomous delivery demo video

https://youtu.be/efOc-ItVvgg
43
 Robot in the warehouse

44
 Marvelmind Robot v100 + Indoor “GPS”

Super-Beacon
Marvelmind Indoor “GPS”
as stationary Working place with the
beacons
Dashboard installed
Intranet
+ Battery-3.6V-42Ah for
autonomous work Wi-Fi network

Main control of the

Super-Beacon as system and the location
mobile beacon data access point
on forklift
Super-Modem

+ Converter-24V-5V to be powered
from the forklift

Super-Modem

Converter-220V-
12V-IP67

45
 Thank you!

Marvelmind Robotics
Marvelmind OÜ (HQ) Marvelmind2 LLC
Ahtri tn 12, Kesklinna linnaosa, Skolkovo Innovation Center
Harju maakond, Lugovaya str., 4 bld 5 room 17
Tallinn, 10151 Moscow, 143026
Estonia Russian Federation

info@marvelmind.com
https://marvelmind.com/#watch_demo – selected video demos
https://marvelmind.com/#customers – selected customers

46