Marvelmind Indoor Navigation System Operating Manual

Transcription

1 Marvelmind Indr Navigatin System Operating Manual V2016_05_21

2 Table f Cntents Versin changes: ) Executive summary ) Basics f the system ) Technical Specificatins Table: Technical Specificatins Table: Pwer Cnsumptin ) Mdels cmparisn ) Setting up the system Basic setup rutine Advanced system settings and ptimizatin: ) Mbile beacn interfacing rbts ) Imprtant aspects and hints Deep hints: ) Frequently Asked Questins ) Cntacts... 27

3 Versin changes: V2016_05_21: - Detailed descriptin f HW v4.5 added (5-sensr beacn) - New Dashbard with multiple sub-maps intrduced - Sme less relevant lder HW versins descriptins are remved - General updates and descriptin imprvements

4 1) Executive summary Marvelmind Indr Navigatin System is ff-the-shelf indr navigatin system designed fr prviding lcatin data t autnmus rbts, vehicles (AGV) and cpters. It can als be used fr tracking ther bjects, where the mbile beacn can be installed, fr example, virtual reality (VR) systems. The navigatin system is based n statinary ultrasnic beacns united by radi interface in license-free band. Lcatin f a mbile beacn installed n a rbt (vehicle, cpter, human, VR) is calculated based n the prpagatin delay f ultrasnic signal (Time-Of-Flight r TOF) t a set f statinary ultrasnic beacns using trilateratin. Statinary beacns frm the map autmatically. N manual entering f crdinates r measuring distance is needed. Key requirement fr the system t functin prperly is: - An unbstructed sight by a mbile beacn f three r mre statinary beacns simultaneusly - fr the full set GPS.png - and 3D (x, y, z) crdinates - An unbstructed sight by a mbile beacn f tw statinary beacns simultaneusly - fr the Starter Set Mini GPS_mini.png and 2D (x, y and manually fixed z) crdinates Main capabilities: Distance between neighbring beacns: up t 50 meters Cverage area: Up t 1000 m2 fr Starter Set Cverage fr larger areas is dne similar t cellular netwrks; can be much larger, than 1000 m2 and depends n the radi interface that can be further extended Lcatin precisin: 1-3% f the distance t the beacns Differential precisin: ±2 cm Lcatin update rate: Hz (can be manually selected and depend n the distance and number f beacns) Beacns frm the navigatin system autmatically n manual crdinates measurements r entering required

5 2) Basics f the system Marvelmind Indr Navigatin System prvides high-precisin indr crdinates fr autnmus rbts and systems ( indr GPS ). Shrt descriptin f key elements f the system is given n scheme belw: Indr GPS Fr VR, autnmus vehicles and rbts (±2cm precisin) Beacn 1 Beacn N Statinary beacns: Munted n walls r ceilings Measure distance t ther beacns using ultrasnic pulses Cmmunicate with ruter wirelessly in ISM band Mbile beacn: Installed n rbt and interacts with it via UART r SPI r I2C r USB Receives lcatin update frm ruter up t 16 times per secnd Indr Navigatin System: 4 r mre statinary beacns 1 r mre mbile beacns 1 central ruter Distance between beacns-neighbrs is up t 50 meters. Beacn 2 Ruter: Central cntrller f the system Calculates psitin f mbile beacn up t 16 Hz Cmmunicates via USB/virtual UART with Dashbard r rbt Beacn 3 Beacn and mdem Mdem/ruter: - Wireless cnnectin with beacns Beacn (tp): - 5 ultrasnic sensrs Beacn (bttm): - LiPl battery

6 Statinary beacns - Shall be munted n walls and ceilings abve the rbt t prvide the easiest unbstructed cverage f ultrasnic signal. Hwever, fr autmatic landing and indr navigatin f cpters, fr example, it is recmmended t place beacns n the flr/grund and install the mbile beacn hrizntally dwnwards lking n the belly f the cpter - Psitin fr the beacns and angles f psitining shall be chsen in such a way that maximum cverage in ultrasnic is prvided fr the maximum territry. Prper ultrasnic cverage is the utmst imprtant element fr the system t functin mst effectively - Statinary beacns emit and receive ultrasund, when the map is being frmed. And they nly receive the ultrasund, when the map is frmed and frzen - In the current HW implementatin v4.5 the mbile and statinary beacns can be easily interchanged by selecting the ptin in the Dashbard - Main versin uses 433-MHz ISM band and prprietary prtcl fr cmmunicatin and synchrnizatin; ther ISM bands are available upn request t

7 Mbile beacn ( hedgehg ) - In the HW v4.5 implementatin f the mbile and statinary beacns can be easily interchanged by selecting the ptin in the Dashbard - The mbile beacns are designed t be placed n the rbt vehicle r helmet t trace its lcatin. Frmally speaking, lcatin f the mbile beacn is traced nt the rbt itself. Since the sizes and the lcatin f the central pint f the mbile beacn and the rbt are different, the difference has be taken int accunt in the rbt s SW - The mbile beacn has t be placed hrizntally t prvide ptimal ultrasnic cverage - Its sensrs must nt be clsed with anything that can reduce the strength f ultrasnic signal - The beacn s crdinates are updated accrding t the rate set in the Dashbard - System may cntain ne r mre mbile beacns. Current implementatin relies n time divisin multiple access apprach. Thus, if tw mbile beacns are activated, they share the time. It means that, if 16 Hz update rate is selected and there are 2 mbile beacns in the system, each beacn s lcatin will be updated with the rate f 16Hz/2 ~ 8Hz. If there are 3 mbile beacns => 16Hz/3 ~ 5Hz, etc. Future SW implementatin will cntain different slutin that will imprve update rate in the setup with multiple mbile beacns - Lcatin data is btained either frm the hedgehg via USB (virtual UART), UART, SPI r the mdem/ruter via USB (virtual UART). Mre n interfaces: Data frm the beacn is sent in a streaming frmat resembling that f GPS - Main versin uses 433-MHz ISM band and prprietary prtcl fr cmmunicatin and synchrnizatin; ther ISM bands are available t - The hedgehg has been successfully integrated with Windws PC, Linux machines, Raspberry Pi, Arduin bards, Intel bards

8 Mdem/ruter - The central cntrller f the system. It must be pwered all the time, when the Navigatin System wrks. It is recmmended t use active USB hub fr that purpse - It is used t setup the system, mnitr it, interact with the Dashbard - It can be placed anywhere within radi cverage t have permanent radi cnnectin with all beacns usually in the radius f 100 meters (with λ/4 antenna 165mm) frm the beacns in the ffice envirnment. With trading ff the update rate, the radi cverage can be further extended t a few hundred meters by using lwer speed f inter-system radi cmmunicatin and larger antennas - Main versin uses 433-MHz ISM band and prprietary prtcl fr cmmunicatin and synchrnizatin; ther ISM bands are available upn request t

9 What in the bx Starter Set: - 4xStatinary beacns - 1xMbile beacn ( hedgehg ) - 1xMdem/Ruter * Exact appearance may wary depending n the HW versin. Characteristics are kept the same r better unless specially nted

10 3) Technical Specificatins Table: Technical Specificatins Parameter Distance between beacns Cverage area Technical Specificatins Up t 50 meters (Transducer4 t Transducer4 lking straight t each ther and ther transducers are ff) Up t 1000 m 2 fr Starter Set cnfiguratin Cverage fr larger territries dne similar t cellular netwrks Lcatin precisin - Abslute: 1-3% f the distance t the beacns - Differential precisin: ±2 cm Pwer supply Weight Beacn size Internal: LiPl battery 1000mAh External: micrusb Mbile beacn frm Starter set: - 47 grams (including battery 1000mAh) - 25 grams (withut battery) Size: 50x50x25 mm

11 Table: Pwer Cnsumptin - Recmmended mde f peratins: - Statinary beacns are pwered frm a clean surce f +5V USB - Mbile beacn is pwer frm the a clean surce f +5V USB frm a rbt - Fr fully autnmus and easy use and testing, each beacn has its wn pwer LiPl battery - Typical pwer cnsumptin in deep sleep mde is 50uA that gives ~2y shelf time with a regular 1000mAh battery. Beacn can be wken up frm deep sleep nly by pressing HW reset buttn - In regular sleep mde the beacns wake up autmatically every 2 secnds fr ~20ms t mnitr external calls frm mdem/ruter. That brings sme additinal cnsumptin, but still leaves several mnths in sleep mde - Active mde wrk time directly depends n the lcatin update rate. Fr example: - With the standard 1000mAh battery and 16Hz update rate, the expected wrk time will be 97h => 8 days (assuming 12h wrking day) - With the extended 4300mAh battery and 1Hz lcatin update rate the expected wrk time will be ~5800h r 484 days (assuming 12h wrking day) Calculated beacn's wrk time in active mde vs. lcatin update rate 2.78E-07 Lcatin update rate, Hz Current cns., ma Time, ms Charge, mah h E Lcatin update rate, Hz Expected wrking time Standard battery 1000 mah Hurs Days /2-days Extended battery 4300 mah Hurs Days /2-days

12 4) Mdels cmparisn Parameter Starter Set mini Starter Set Bxed Set Bxed+Hlder Set Optimized fr Lwest price Price Overall Overall + perfrmance Other imprtant characteristics 2D crdinates nly Unprtected bard use with care 3D crdinates Prtecting case against mechanical impact. Limited utdr prtectin Prtecting case against mechanical impact. Limited utdr prtectin 3D crdinates 3D crdinates Size Smallest cnfiguratin: 2xBeacns + 1xMdem Small size and weight Size and weight is abut the same as fr Starter Set Larger size due hlder f statinary beacns. Mbile beacns and mdem are the same as fr Bxed Set Battery Standard 1000mAh Standard 1000mAh Standard 1000mAh Standard 1000mAh Indr GPS : set cmparisn Starter Set Starter Set Mini Minimum number f statinary beacns 4 2 2D/3D lcatin data 3D 2D Precisin ±2cm ±2cm Pssibility t expand frm Starter Set Mini t Starter Set by adding mre beacns - Yes Rbustness t ultrasnic shadws High Lw Price 349 USD 235 USD

13 5) Setting up the system Basic setup rutine 1. Unpack the system. See the vide: nte, that the vide is sht fr the beacn s HW v4.3 (4-sensrs), s sme details are different as cmpared with newer beacn s HW v4.5 (5-sensrs) 2. Check that all switches n beacns are in the right psitin (different fr HW v4.3 and fr HW v4.5!): - Beacn HW v4.5 (5-sensrs): switch 1 must be OFF and switch 2 must be ON. When the bard is charged and switch is n, the LED n the bard is blinking every a few secnds - Beacn HW v4.3 (4-sensrs): 3. Dwnlad and install Dashbard and STM32 driver n yur laptp: - If there are newer SW versins, run the Dashbard and update the SW using Run the Dashbard => Advanced view => Firmware => Chse the file => Prgram - Make sure that yu are prgramming mdem s SW t mdem and beacn s SW t beacn 4. Place statinary beacns n the walls vertically in such a way that ptimal ultrasnic cverage is prvided. T start with the system it is recmmended t use a simple rm f 4x6 meters r s and place the statinary beacns n the ppsite walls n 1.85m height (default). After familiarizing with the system far mre cmplex cnfiguratins can be dne 5. Cnnect the mdem/ruter via USB t the Windws PC with the Dashbard installed 6. Run the Dashbard 7. Mdem shall appear cnnected:

14 8. Wake up all beacns by clicking n the buttns in the Dashbard. It may take beacns up t 8 secnds t wake up 9. The map will frm autmatically - If map des nt frm well (the table f distances is nt white and beacns are nt green), use View => Table f distances t mnitr the measured distances between beacns (See advanced system setting in the fllwing chapters) - The new Dashbard (starting frm v4.41) intrduces submaps:

15 - Submaps allw building independent maps, fr example, fr separate rms f the larger building, and then placing them n a cmbined maps. This allws creatin f big maps cnsisting n partially verlapping r even nt verlapping submaps - Handling submaps is an advanced feature and will be described additinally in separate chapters 10. Freeze the map by clicking the buttn. Statinary beacns will stp measuring relative distances and will be ready t measure distance frm the mbile beacn(s) 11. Turn n and wake up mbile beacn similar t the peratins with the statinary beacn. 12. The system nw is fully peratinal

16 Advanced system settings and ptimizatin: 1. Use Dashbard => View => Table f distances t mnitr the distances between beacns If yu see in the table sme empty cells r marked yellw r red, it is an indicatin that distances between sme beacns are measured incnsistently r nt measured at all. Try t check what the prblems with thse beacns are. Try t re-psitin them, because, usually, there is an bstructin f sme srt in the between the beacns.

17 2. Use Dashbard => View => Oscillscpe t mnitr ultrasnic signal frm ne beacn t anther. It is a very pwerful tl, because it gives als infrmatin n the backgrund nise, level f the signal, ech. With this tl it is easy t set up the prper ultrasnic threshld in the Dashbard Type the reference beacn number. And press Enter Ech frm the previus measurements; Ultrasnic signal frnt External nise lks similarly. Thus, chse the ultrasnic threshld belw this value, fr example, -500 t Chse the beacn t test Chse prper ultrasnic detectin threshld 3. Chsing prper ultrasnic detectin threshld This is imprtant! Chse the ultrasnic threshld belw the external nise, but higher than the minimal expected ultrasnic signal frm ther beacns r the hedgehg. Fr the example abve: -500 t wuld be safe chice. Hwever, as mentined, the shwn nise is nt a real external nise, but ech frm the previus measurements that will settle t the time f the measurement in the real system, as ppsite t the scillscpe setup. In this cnfiguratin the external nise is nt visible at all t lw. When external nise is high: - Identify the surce. Usual suspects: Ultrasnic based vlume r mvement detecting alarm systems Other rbts using ultrasnic Parktrnics Surces f very strng white r impulse nise (air guns, air press, cutters, vacuum cleaner, etc.) - Marvelmind Indr Navigatin System uses prprietary 31kHz frequency fr ultrasnic signal and emplys additinal filtering t cmbat external nise. And it makes the system rather immune against usual suspects. Hwever, if the external nise is t strng, its surce is t clse, r it is emitting strng signal n frequencies clse t 31kHz r white nise, the system functinality can be affected

18 - When map is frmed, nly mbile beacn is emitting, whereas statinary beacns are nt. Thus, it des nt matter hw clse the mbile beacn is t the surce f nise. But it matters hw the statinary beacns are clse t thse surces. S, select the psitin accrdingly - If nise is still there, ne can chse t reduce the gain f the ultrasnic receiver while keeping the level f wn ultrasnic signal strng abve the nise abve the threshld. Als right selectin f the threshld is the key in such a nisy envirnment. The gain is very nn-linear t 3000 almst n change. But arund 2500 the gain starts reducing quickly (1200 fr sme HW versins). Thus, it is pssible t find the ptimal gain t btain the highest Signal/Nise rati. Set the threshld value accrdingly

19 4. Use Dashbard => View => 8-channel scillscpe fr very deep analysis f transducers perfrmance Hints: - Chse the reference beacn and press Enter, like with regular Oscillscpe described abve Example f the test result: In this example beacn n61 selected and tested against reference beacn n47 Nte that there is virtually n nise N full-scale hrizntal lines must be here. If there are, it means that sme sensrs either dn t receive r d nt emit. By ticking the ticks it pssible t identify which particular sensrs malfunctin t easier t trace the surce f the prblems (wrng setting, mechanical damage, etc.) Frnt f the signal frm different sensrs is nearly at ne line. The difference is explained by the fact that they indeed have a distance f a cuple f cm frm each ther

20 6) Mbile beacn interfacing rbts a) Mbile beacn ("hedge") interfacing prtcl t rbts 1a) Virtual UART via USB 1b) SPI This is the easiest way t cnnect since n sldering is required and prtcl is the same fr different perating systems: - Hedge HW v4.4 and earlier (4 sensrs): USB prtcl fr mbile beacn - descriptin f the USB prtcl between mbile beacn and a hst device fr Windws and Linux - Hedge HW v4.5+ (5 sensrs): USB prtcl fr mbile beacn - descriptin f the USB prtcl between mbile beacn and a hst device fr Windws and Linux SPI & UART interface pins n beacn bard. - Hedge HW v4.5+ (5 sensrs): USB prtcl fr mbile beacn - descriptin f the USB prtcl between mbile beacn and a hst device fr Windws and Linux b) Integratin with Raspberry Pi via virtual UART via USB in Pythn - Here is the Pythn cde fr Raspberry Pi (ptentially, with any Linux) integratin via virtual UART via USB - Cde is fairly universal; at least, it wrked n Mac (OS X 10.10) t - Pythn v2.7 - CRC calculatin is dne in "pythnic way", i.e. library crcmd is used. Cmments n usage f the library are inside the cde - There are handlers f different exceptins, fr example, Ctrl+C, nn-standard states f COM/USB Credits: the Pythn script prvides interface fr a mbile beacn attached t the rbt built by penberlin innvatin center team. Written by Bris Zinin (b.zinin@gmail.cm). This cde is free t use in yur applicatins (please include a reference link t this web page r riginal authr's ). Nte! The cde has nt been verified by Marvelmind Rbtics team. Use n yur wn risk. c) Mdem and dashbard interfaces It is pssibly t get lcatin data nt nly frm the mbile beacn, but directly frm the mdem r the Dashbard: - Prtcl f data exchange with mdem via USB interface - Prtcl f data exchange with Dashbard via UDP

21 d) Cnnectin f Marvelmind hedgehg t Arduin Marvelmind hedgehg can be cnnected t Arduin bards via UART r SPI interfaces. Cnnectin f Marvelmind hedgehg t Arduin via UART and SPI The detailed descriptin f cnnectin t Arduin shield via UART and SPI is described in: - Hedge HW v4.4 and earlier (4 sensrs): the link and the Operating Manual - Arduin sample cde - UART - Arduin sample cde - SPI - Hedge HW v4.5+ (5 sensrs): the link and the Operating Manual Examples f Arduin sketches fr getting data frm hedgehg are available fr Sainsmart Arduin kit: This kit includes Arduin Un bard, LCD bard and ultrasnic distance sensr. Distance sensr wrks n frequency 40 khz, which des nt interfere with frequency f 31 khz f hedgehg and Marvelmind Navigatin System. S, bth systems perfectly wrk even in prximity. UART cnnectin Cnnectin f hedgehg UART t Arduin LCD shield is shwn n fllwing picture: Hedgehg transmits data thrugh UART with parameters: 500 Kbit/sec, 8 bits f data, n parity.

22 SPI cnnectin Cnnectin f hedgehg t Arduin LCD shield is shwn n fllwing picture: Arduin reads data frm hedgehg frm SPI interface, hedgehg acts as SPI slave device. Parameters f SPI: SPI mde 0, MSB inside each byte transmits first. Cnnectin was tested n SCK speed up t 8 MHz. Be careful t prvide quality wiring cnnectins n high speeds (mre than 500 KHz). Chip select input n hedgehg is nt cmpatible with +5V level signals f Arduin, s yu need t prvide +3.3V level shift like resistr divider n a picture r sme anther ne.

23 7) Imprtant aspects and hints - The single mst imprtant aspect fr the system t wrk well is t have prper ultrasnic cverage Each sensr has an ultrasnic beam f ~90 degrees. Outside f that range the emitting pwer and sensitivity drps quite rapidly. Frm the left, right, r back sides f the ultrasnic sensr the signal is received highly attenuated. Thus, it is crucially imprtant t prvide prper ultrasnic cverage fr the area where the rbt will be mving Als it is very imprtant t prvide prper ultrasnic cverage t ther statinary beacns when the map is being frmed - Mbile beacn ( hedgehg r hedge ) is designed t be placed hrizntally Mbile beacn has fur hrizntal and n vertical sensrs each cvering its wn sectr. Tgether they cver 360 degrees hrizntally and upper hemisphere. Lwer hemisphere is highly attenuated, s dn t expect ultrasnic cverage in that area It is advised t place the mbile beacn as high as pssible n the rbt, if statinary beacns are abve the mbile beacn, t minimize shadws frm ther bjects, peple, etc. Example f prper psitining f the mbile beacn: - the beacn is placed hrizntally and abve ther bjects that can prduce shadw t the statinary beacns - Keep the radi signal s strength under cntrl RSSI (Dashbard => right menu) f any beacn/mdem must nt be higher than -25dBm. Otherwise, the system may malfunctin (packets lst unnticeable, etc.) It is als preferred that the distance between beacns is mre than 0.5-1m

24 - Start using advanced settings nly when yu knw what yu are ding If yu ran int trubles, cnnect beacn/mdem t PC via USB and use Default buttn. It uplads factry settings t the bard while keeping the device address untacked

25 - Charging Charging is dne autmatically every time, when the USB charger is attached t the bard It takes 1-2h t fully charge the bard s battery. After charging is finished the right LED ges dark Make sure that the pwer switch is ON. Otherwise, the battery is fully discnnected and wn t be charged

26 Deep hints: - Avid placing beacns n lng sund cnducting bjects This is a very rare case, but may happen in sme special circumstances The best practice is t place beacns (statinary and mbile) in such places that wuld nt result in transferring ultrasund energy frm the beacn s bard/case directly t place it is attached via ther medium than air. Fr example, slid attachment f a beacn t a lng hrizntal metal tube may result in the fllwing: Sund emitted frm the beacn prpagates directly t the metal tube Prpagatin lses inside metal are much smaller than in the air. Mrever, the tube may act as a lw-lss waveguide If the tube is slid enugh and lng enugh, there may be a weird effect when the receiving beacn receives the signal sner than expected, i.e sner than the distance divided by the speed f sund in air. That happens because f speed f sund in metal is much higher than speed f sund in the air and sme part f the path the sund travelled in the metal. The ultrasund signal may even lk strnger than the real signal prpagated thrugh the air due t lwer lsses f ultrasnic in metal than that in the air It is gd practice t place beacns n smething relatively sft r nt s sund cnductive

27 8) Frequently Asked Questins 9) Cntacts Fr mre supprt, please, send us yur questins t inf@marvelmind.cm. We will guide and advise yu And visit ur web site