Mir Ai camera User manual

Getting started (en)

Date: 09/2019

Revision: v.1.0

express written permission of Mobile Industrial Robots A/S (MiR). MiR makes no warranties,

express or implied, in respect of this document or its contents. In addition, the contents of

the document are subject to change without prior notice. Every precaution has been taken in

the preparation of this manual. Nevertheless, MiR assumes no responsibility for errors or

omissions or any damages resulting from the use of the information contained.

Contact the manufacturer:

Mobile Industrial Robots A/S

Emil Neckelmanns Vej 15F

DK-5220 Odense SØ

www.mir-robots.com

Phone: +45 20 377 577

Email: support@mir-robots.com

CVR: 35251235

Table of contents

1. About this document 4

1.1 Document history 4

1.2 Where to find more information 4

2. Product presentation 6

2.1 External parts 6

2.2 MiRFleet and operating requirements 7

2.3 Light indicator 7

3. Getting started 8

3.1 In the box 8

3.2 Suggested use 8

3.3 Mounting and powering up MiR AI Camera 10

3.4 Connecting to MiR AI Camera 12

3.5 Adding cameras to MiRFleet 15

4. Comissioning 18

4.1 Collection phase 18

4.2 Pre-processing phase 21

4.3 Validation phase 26

4.4 Training phase 33

4.5 Upload the data model 34

4.6 Setting up triggers and actions 36

4. Troubleshooting 42

1. About this document

This document describes how to install and use your MiR AI Camera. It provides the

information about the following topics:

•Mounting your MiR AI Camera.

•Training the camera to identify certain objects.

•Setting up your camera with MiRFleet

•Product presentation

1.1 Document history

This table shows latest and previous versions of this document and their interrelations with

product software releases.

Revision Release date Description SW HW

1.0 2017-11-27 First edition. 2.0.2 1.0

1.2 Where to find more information

At www.mir-robots.com, several additional resources are available. To access more

information, sign in to the Distributor site with your distributor account at

http://www.mobile-industrial-robots.com/en/account/. The following relevant resources are

available:

•Distributor site > Manuals

http://www.mobile-industrial-robots.com/en/account/manuals/

This page contains the following resources:

-Robot Quick starts

The short guide that lets you start operating the robot quickly. This document is in the

box with the robot in the printed format. Available in multiple languages.

-Robot User guides

The user guide of the robot. Available in multiple languages.

-MiRFleet Reference guide

The reference guide that describes the elements of the MiRFleet interface. Available in

multiple languages.

1. About this document

-MiRFleet REST API reference.

The REST API reference for MiRFleet.

•Distributor site > Download

http://www.mobile-industrial-robots.com/en/account/download/

This page contains the following resources:

-CAD drawings.

Select Show CAD-files to see the list of available CAD drawings.

-Certificates.

Select Show Certificates to see the list of certificates for the robot.

•Distributor site > How to

http://www.mobile-industrial-robots.com/en/account/how-to/

This page contains how-to articles that describe how to perform specific tasks with MiR

products.

•Distributor site > Troubleshooting

https://www.mobile-industrial-robots.com/en/account/troubleshooting/

This page contains troubleshooting guides to solve common issues with MiR products.

•MiR AI Camera product page

http://www.mobile-industrial-robots.com/en/products/mir-add-ons/mir-ai-camera

This page contains specifications, pictures, and brochures for MiR AI Camera.

2. Product presentation

MiR AI Camera is intended to be used to improve the flow of MiR robots. It provides

MiRFleet with additional information that it can use to guide MiR robots more effectively for

example, by initiating missions when carts are ready to be transported or by avoiding

sending robots through obstructed, narrow doorways and into crowded areas.

In MiRFleet, the camera is set up to trigger a specific action when the camera detects a

certain object. The actions can either be the initialization of a fleet mission or locking a

Limit-robots zone.

2.1 External parts

Figure 2.1 identifies the external parts of MiR AI Camera.

2.1. External parts of MiR AI Camera.

Number Description Number Description

1 WiFi antenna 2 Camera lens

3 Indicator light 4 Reset button

5 Ventilation 6 Power socket

7 Ethernet port 8 Mount connector

2. Product presentation

To reset the camera, you must hold down the Reset button for ten seconds.

2.2 MiRFleet and operating requirements

The MiR AI Camera is a product that must be connected to MiRFleet to be used as intended.

The list below describes the requirements for being able to use MiR AI Camera with your

MiRFleet. Some of these points are only applicable if you choose to use a WiFi connection to

the camera instead of Ethernet.

•Your MiRFleet must be configured to use a host network interface. This is the default con-

figuration for MiRFleet.

•MiR AI Camera should be in the same physical location as MiRFleet.

•Minimum bandwidth of 1 Mbit per AIcamera with a maximum latency of 150 mS.

•Signal strength not less than -75 dBm. Signal-to-noise ratio should be at least 20 dB.

•MiRFleet must be updated to a software that supports MiR AI Camera.

•MiR AI Camera performs best in well lit areas.

2.3 Light indicator

The light indicator on MiR AI Camera is used to provide feedback on its current status. Table

2.1 describes the status linked to the various colors.

Color Status

White Busy, such as updating or starting up.

Yellow WiFi setup mode active, waiting for network connection.

Green Connected to network, but with no uploaded data model.The light blinks

when changing to this state.

Red Error, such as connection errors. The light blinks when changing to this

state.

Cyan Object detection mode active.

Dark blue Collection mode active.

2.1. Light indicator color statuses

3. Getting started

This section describes suggested use and how to get started with MiR AI Camera.

3.1 In the box

This section describes the content of the MiR AI Camera box.

The box contains:

1. MiR AI Camera

2. Wall mount

3. WiFiantenna

4. Power supply

5. Installation guide for MiR server

3.2 Suggested use

It is important before installing MiR AI Camera to consider what you aim to use it for. This

section describes some of the possible uses of MiR AI Camera, and where it should be

mounted in each case.

MiR AI Camera is intended to be used to monitor a delimited area. It is important that the

area of interest is within the field of view and line of sight of the camera. It is recommended

to focus only on a localized area. It is not recommended to install a camera that views the

entire work area where people or machinery are performing multiple tasks and are in

constant motion.

Make sure to mount your camera in a well lit area with stable lighting conditions. Changing

lighting conditions may affect the performance of MiR AI Camera negatively.

MiR AI Camera improves the work flow of MiR robots by triggering an action when it detects

a specific object. An action can either be the initialization of a fleet mission or locking a

Limit-robots zone, so no MiR robots may enter. It is important to consider which action

should be linked to which detected object, and reflect if the mounted position of the camera

is ideal for it. The following examples may provide insight into what MiR AI Camera should

be used for.

Preventing blockages in narrow doorways

Two MiR AI Cameras can be mounted on each side of a narrow doorway to monitor

incoming traffic. If a camera detects an incoming object or person, MiRFleet is alerted and

3. Getting started

temporarily locks the area in the narrow doorway. This prevents MiR robots from

obstructing the doorway for incoming traffic and avoids MiR robots attempting to pass an

obstructed doorway. Instead, MiR robots wait at a reasonable distance to allow the other

object or person through first.

If a MiR robot is already in the narrow doorway, MiR AI Camera will not make

the robot stop in the middle of the doorway when it locks the doorway area.

MiR AI Camera can also be configured only to lock the doorway area after detecting certain

objects. For example, if the doorway is large enough to allow a person and robot through at

the same time, it should be considered only to set MiR AI Camera to lock the area if carts or

other robots are approaching the doorway.

Autonomously initiating robot missions

MiR AI Camera can be mounted to focus on an area where the presence of a specific object

triggers a fleet mission. This can, for example, be used at any pick-up and drop-off position

where, if the object is detected, a MiR robot will arrive and transport the object to a drop-off

point. It is important in this case that the position occupies most of the camera's field of

view.This is to avoid the camera detecting the object of interest in other positions and

initializing a mission even though the object is not necessarily placed on the pick-up position.

3. Getting started

3.1. In this example, MiR AI Camera is focusing on a loading rack. In the first image, the camera detects nothing

in its field of view. In the second image, it has detected a crate and initiates a mission to send a robot over to

pick up the crate.

This example can also be applied to carts, shelves, and pallets where the camera is focused

on a cart position, shelf position, or a pallet rack. It is also possible to use other types of

missions as long as the mission trigger is an object that MiR AI Camera can identify easily in

a designated area.

Foreseeable misuse

The following list includes examples where MiR AI Camera is not intended to be used:

•Monitoring heavily trafficked areas.

•Functioning as a surveillance camera.

•Identifying specific persons.

•Controlling a MiR robot or other automated mobile robots remotely.

3.3 Mounting and powering up MiR AI Camera

This section describes how to mount MiR AI Camera.

It is recommended to read through Suggested use on page8 before mounting

MiR AI Camera.

3. Getting started

Figure 3.2 identifies the key parts of the camera mount. There are two identical mounting

plates. One plate is mounted to the camera, and the other plate should be mounted to the

surface you would like the camera to be fixed to. It is possible to detach or twist the plates

by loosening the fastening bolts identified in Figure 3.2.

3.2. Parts of the AIcamera mount.

Number Description Number Description

1 Adjustable bending joint 2 Mounting holes

3 Fastening bolts 4 Mounting plate

To mount MiR AI Camera follow the steps below:

1. Detach the camera mount from the MiR AI Camera if they are not already separated.

2. Place camera mount in the position you want the MiR AI Camera to be mounted. Make

sure the mounting plate is placed flat against the surface.

The camera mount is adjustable, so you can always adjust the orientation

of the camera after fixing the camera mount.

3. Mark the position of the mounting holes on the wall, ceiling, or other structure that you

would like to mount the camera to. Remove the camera mount.

4. Drill holes into the surface at the marked positions of a suitable size for M4

screws.Consider using wall plugs for a more secure mounting.

3. Getting started

5. Place the camera mount back in the desired position, so the mounting holes align with

the drill holes in the wall. Screw the M4 screws into the wall to fix the camera mount in

place.

6. Fix MiR AI Camera to the camera mount. Tighten the bolt at the end of the mount, and

ensure that the camera is fastened securely.

7. Adjust the angle of the camera so it is oriented in the correct direction. You must loosen

up the bolts in the mounting pieces to adjust the orientation.

8. Plug in the power cable to turn on the AIcamera. It may take up to a minute for the cam-

era to turn on.The indicator light will light up in white when the camera is starting up.

9. Once the light turns yellow, the camera is ready to be connected to a network. There are

two options for connecting MiR AI Camera to your MiRFleet network:

•Connect the camera to a nearby Ethernet port that is connected to the same network

that MiRFleet is on.

•Screw in the WiFi antenna and continue to the next section for instructions on con-

necting the camera to the network.

3.4 Connecting to MiR AI Camera

It is possible to connect to the MiR AI Camera directly using an Ethernet cable or wirelessly

through WiFi.

Connecting through Ethernet

Connect MiR AI Camera to the same network as your MiRFleet using an Ethernet cable.

Check that MiRFleet has connected to the camera by signing into MiRFleet and going to

Setup > AI cameras. Your AI camera should appear under New cameras. It can take a little

3. Getting started

time for MiRFleet to detect the camera.

Connecting through WiFi

If your camera is mounted in a position that does not enable you to connect it to the network

through Ethernet, the following steps describe how to connect through WiFi instead.

1. Turn on your MiR AI Camera. If the WiFi antenna is mounted, MiR AI Camera creates a

WiFi hotspot, and the indicator light changes to yellow.

2. On your own device such as a laptop or tablet, connect to the camera's WiFi. It is named

in the format: MIR_AI_CAMERA_XXXX.

If you cannot connect to MiR AI Camera, try to reset the camera by holding

down the Reset button for ten seconds.

3. Getting started

3. Once connected to the WiFi, open a browser and go to camera.mir-robots-ai.com.

4. Select the WiFi network that your MiRFleet is connected to. Enter the WiFi password to

connect the camera to the network.

5. When the camera is connected to the same network as MiRFleet the indicator light

changes to green. The AIcamera hotpot vanishes, and the camera is now available in the

MiRFleet interface.

3. Getting started

6. Check that MiRFleet has connected to the camera by signing into MiRFleet and going to

Setup > AI cameras. Your AI camera should appear under New cameras. It can take a

little time for MiRFleet to detect the camera.

3.5 Adding cameras to MiRFleet

The process of adding cameras to MiRFleet is similar to adding robots to MiRFleet. The

following steps describe how to add a new MiR AI Camera to the fleet.

Make sure your MiRFleet is updated to a software version that supports MiR

AI Camera and is using a host network interface configuration. See MiRFleet

and operating requirements on page7.

1. Sign in to MiRFleet, and go to Setup >AIcameras.

2. If your new camera is not available, select Scan for cameras. All new cameras added to

the network should appear under New cameras.

3. Getting started

3. To add the camera, select Add.

4. In the displayed page, it is possible to see the MiR AI Camera's serial number and soft-

ware version. You are also able to edit the camera's name and activate the camera. It is

recommended to name the cameras based on their position or function, such as Hallway

or Cart pickup.

3. Getting started

5. Select Save when you are done.

You can also remove cameras from MiRFleet after adding them. This is done by going into

the camera's settings page and selecting Remove.

NOTICE

When you remove an AIcamera from MiRFleet, the AIcamera is auto-

matically factory reset.

4. Comissioning

This section describes how to train MiR AI Camera to detect certain objects and setup which

actions should be triggered when the camera detects specific objects. There are four main

phases included in the training of MiR AI Camera:

1. Collection phase

Sample images are collected autonomously by the AI cameras. These are required for

training the AIcamera.

2. Pre-processing phase

Objects in the collected images are detected and framed. Images containing similar

objects are clustered into a groups.

3. Validation phase

You must label the collected images based on the detected object in the image, and only

select images with accurate framing.

4. Training phase

Based on the validated images, MiR AI Camera is trained to detect future observations of

the labeled objects.

4.1 Collection phase

For MiR AI Camera to detect specific objects, it must first be trained using a collection of

sample images of those objects. The objects you would like the camera to be able to detect

are referred to as target objects. Each camera autonomously collects the necessary images

over an eight hour period, optimally while the work area is in operation. In other words, do

not leave the camera to collect data after work hours or in a time span where it is not

intended to be used.

It is important that you gather images of objects where they are alone in the

camera's field of view. It is less efficient to train MiR AI Camera when there

are multiple target objects in the images.

When the cameras are set to collection mode, all cameras connected to the fleet are set to

record images whenever they detect motion. It is important during the collection phase that

the desired target objects enter the camera's field of view.

4. Comissioning

Make sure you have added all of your MiR AI Cameras to MiRFleet before you

begin collecting data.

Follow the steps below to begin the Collection phase, and download the data necessary to

begin the next phase:

1. Go to Setup > AIcamera and select AIsettings.

4. Comissioning

2. Under Collect image data, select Start collecting.

3. The remaining time of the collection phase is displayed. When the displayed time has

passed, return to the MiRFleet interface and navigate to AI settings again to download

the data.

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