MIR MiR Hook 200 TM User manual

Operating Guide
02/2019 v1.9
en

Copyright and disclaimer
All rights reserved. No parts of this manual may be reproduced in any form without the express written
permission of Mobile Industrial Robots ApS (MiR). MiR makes no warranties, express or implied, in respect
of this document or its contents. In addition, the contents of the document is 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.
Copyright © 2016 - 2019 by Mobile Industrial Robots
For more material,
go to our website
Contact the manufacturer:
Mobile Industrial Robots
Emil Neckelmanns Vej 15F
DK-5220 Odense SØ
www.mir-robots.com
Phone: [phone]
Email: [e-mail]
CVR: 35251235

Table of contents
1 About this manual .............................................................................................................3
1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Further information.....................................................................................................4
2 Hardware ...........................................................................................................................5
2.1 Hardware .....................................................................................................................5
2.2 Mount the hook on a robot .........................................................................................6
3 Cart ....................................................................................................................................3
3.1 Cart specifications .......................................................................................................3
3.1 1 Wheel configuration of the cart .......................................................................3
4 Modifying the gripper........................................................................................................3
4.1 Modifying the gripper for different thickness and/or length ......................................3
5 Space requirements...........................................................................................................4
5.1 Space required to pick up a cart ...................................................................................................... 4
5.2 Basic principle of driving with a cart............................................................................4
5.3 Space required to turn a corner ..................................................................................4
5.4 Space required to park a cart ......................................................................................5
5.5 Space required to park cart in reverse ........................................................................6
6 Accuracy ............................................................................................................................7
6.1 Accuracy ......................................................................................................................7
7 Safety .................................................................................................................................9
7.1 Safety ...........................................................................................................................9
7.1 1 MiRHook 100 ....................................................................................................9
7.1 2 MiRHook 200 ....................................................................................................9
8 Creating QR markers........................................................................................................11
8.1 Creating QR markers..................................................................................................11
9 Set up MiRHook ...............................................................................................................13
9.1 Setting up MiRHook in the Robot interface...............................................................13
9.2 Enable the Hook feature in the Robot interface........................................................13
9.3 Perform a short manual test......................................................................................14
9.4 Perform a homing of the hook ..................................................................................14
9.5 Create an overall cart type ........................................................................................14
9.6 Calibrate a specific cart in the MiR system................................................................15
9.7 Create a specific cart in the Robot interface .............................................................16
9.8 Test the setup ............................................................................................................17
10 Map................................................................................................................................19
10.1 Setting robot and cart positions in the map............................................................19
11 Example .........................................................................................................................21
11.1 Example of a small application ................................................................................21
12 Updating MiRHook software .........................................................................................23
12.1 Update MiRHook software ......................................................................................23

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1 About this manual
1.1 Overview
This Operating Guide contains all essential information about how to start up and operate a
MiRHook 100 and a MiRHook 200. It also includes necessary information about safe handling of the
hook and technical specifications. The Operating Guide is intended for Mobile Industrial Robots’
distributors as well as end users responsible for the daily operation of MiRHook 100 and MiRHook
200.
1.2 Document history
This table shows latest and previous versions of this document and their interrelation with product
software releases.
Doc version Release date Description HW version
1.0 01.02.2016 Document created.
1.1 04.02.2016 General small corrections.
Reworked section 7 Usage.
1.2 10.04.2016 Major update throughout document.
1.3 02.05.2016 Added space requirements for pick-up and reverse parking.
1.4 20.09.2016 Updated for SW release 1.7.
Configuration of hook missions made simpler.
1.5 11.10.2016 Updated illustration for 4.1. and 4.3.
1.6 24.10.2016 Appendix added: Updating the MiRHook software.
Chapter 1: Notice added about requirements for light in the
operation environment.
1.7 10.11.2016 Description of driving space requirements changed (chapter
4.3)
1.8 06.01.2017 Updated for SW release 1.8.
Cart specifications changed.
New section Modifying the gripper for different thickness and/
or length.
1.9 22-02-2019 New version for MiR Robot Interface 2.0. Major update
throughout document.
Includes both MiRHook 100 and MiRHook 200.
MiRHook 100
1.3 and
MiRHook 200
1.2

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About this manual
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1.3 Further information
You can download all manuals from the MiR website where you will also find training videos,
product pictures and technical specifications.
• Manuals and more: www.mobile-industrial-robots.com/products
Your MiR distributor is your first point of contact for all service queries. Find distributor contact on
our website.
• Distributor contact info: www.mobile-industrial-robots.com/distributors.

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2 Hardware
2.1 Hardware
MiRHook 100 and MiRHook 200 is equipped with a camera, a gripper and an emergency stop for the
complete system, i.e. the MiR100 robot and the hook.
The gripper can be exchanged for different cart types.
Figure 1. 3D drawing of MiRHook 100
Figure 2. 3D drawing of MiRHook 200
The robot can pick up carts only in normally illuminated environments since the 3D camera must
be able to “see” the QR marker.

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Hardware
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2.2 Mount the hook on a robot
The photos illustrate a MiR100 robot and a MiRHook 100, but MiRHook 200 is mounted on a MiR200
robot in the same way.
1.
2. Remove the hook cover and lift the hook onto the robot fitting the frame holes above the four
mooring holes on the robot.
3. Mount the frame with the four bolts. Tighten the bolts to a torque of 47 (Nm) / [34.5 ft-lb].
4. Connect cables and mount the antenna:

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Hardware
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1. Network cable (from robot to hook PC)
2. Application hardware cable
3. Emergency stop cable
4. USB cable for top camera
5. Antenna connector
5. Place the cover on top of the hook frame. The cover is held in place with magnets.
6. The hook is now mounted on the robot.

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3Cart
3.1 Cart specifications
MiRHook can accommodate carts with the following dimensions:
• Width: between 400 mm and 1500 mm.
• Height: maximum 2000 mm.
• Length: between 500 mm and 2400 mm.
In addition, the carts must have a gripper area / gripper bar at the front, bottom part of the cart
(typically a square tube) with the following dimensions:
• Position: 80-300 mm above floor, A
• Thickness: 15 to 25 mm, B
• Length: Min. 350 mm, C
For the robot to be able to locate and identify carts a QR-marker must be fixed on the front of the
cart, see “Creating QR markers” on page 11.
3.1.1 Wheel configuration of the cart
The carts must be fitted with two rigid and two caster swivel wheels. The two rigid wheels can either
sit on the front or the back of the cart.
Whether the robot will work better with rigid wheels on the front or the back depends on the
maneuvering conditions on the individual site and should be assessed before the gripper bar is fixed.
In general, the following rules of thumb apply:
Two rigid wheels on the back and two swivels on the front:
With this configuration, turning radius of the robot and the cart is larger but the driving is more
stable. Reverse parking is easier.
Two swivels on the back and two rigid wheels on the front:
In areas with tight corner passages, the robot may turn the corners more easily with the rigid wheels
on the front. If the rigid wheels are in the back, the cart makes a larger turning curve requiring more
space.

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4 Modifying the gripper
4.1 Modifying the gripper for different thickness and/or length
If the length or thickness of the cart is slightly out of the specification, then it is possible to modify
the gripper. The gripper length can be altered by unscrewing the upper gripper and changing the
length between the arms – This requires some machine work. The thickness can be changed by
adding spacers to the mounting of the lower-gripper (see image below).
Figure 1. The gripper may be mechanically modified to accommodate carts that are slightly out of proportions

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5 Space requirements
5.1 Space required to pick up a cart
As system operator, you are responsible of ensuring that MiR100/MiR200 has enough space
to pick up a cart. When preparing to pick up a cart, the robot moves to a position in front of
the given cart position (1.7 m from the position). The robot camera orients itself towards the
QR marker before backing towards the cart. If misaligned more than 5 degrees, the robot will
turn 90 degrees to the side to place itself on a line directly behind the cart.
5.2 Basic principle of driving with a cart
Once a cart is attached to MiR100/MiR200, the robot does not reverse when going from
position A to position B, see Safety on page 9. As a result, its dynamic obstacle avoidance
capabilities are somewhat restricted compared to when a cart is not attached. The system
operator needs to keep this in mind when choosing where to run MiRHook.
5.3 Space required to turn a corner
The space required to turn a corner depends on the combined length of robot and cart; a square
measuring the total length of robot and cart plus 500 mm is the optimum space turning a corner (see
Figure 5).
Make sure the space around the robot is clear as the alignment is done without collision
check.

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Tips:
1. Less than 500 mm may work in areas with no or few dynamic obstacles.
2. Driving pattern and sensibility to dynamic obstacles depend on whether the front or rear wheels
of the cart are locked. If the corner space is limited, we recommend to test which works best in the
individual case
5.4 Space required to park a cart
To park a cart, the robot needs at least 50 cm of space to either side of the cart.
In addition, it cannot park the carts safely closer than 25 cm to any obstacles behind the cart.
However, the robot can pick up a cart parked closer than 25 cm to any obstacles behind it (see Figure
6 - Parking space for carts).
Please note that it should be possible for the robot to park and pick up carts at an angle of less than
5° between the cart and the robot
Figure 6 - Parking space for carts

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5.5 Space required to park cart in reverse
As system operator, you are responsible of ensuring that under normal operation MiR100/MiR200
has enough space to park the cart. The space required is a square in front of the position equal to
the full length (MiR100/MiR200 + cart) plus 50 cm.
• The robot moves to a position sidewards to the placement position (1.5 m either coming from
the right or left side).
• The robot checks if the placement space is free and then moves with the cart so that the fixed
wheels on the cart are 0.2 m from the center line in the placement position.
• The robot now moves itself with the cart to a position aligned with the position line and finally
moves the cart into place.
• When reversing with a cart the robot will both warn with a loud beeping sound as well as
blinking yellow color.
When reversing, make sure that the space around the robot is clear. It is mandatory to
mark the cart areas as hazard zones, where only authorized personnel is allowed.

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6Accuracy
6.1 Accuracy
The robot parks and picks up carts with an accuracy of 20 cm radius from the specified position and
with an angle difference less than 10° relative to the specified position.
Similarly, a cart is picked up at a given position if the cart is placed with the above accuracy.
Each cart is identified by its QR-marker. If several carts share the same QR-marker, the carts must be
identical, and the QR-marker must be placed with 1 cm precision or +/- 0.5 cm on all carts.

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Accuracy
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7Safety
7.1 Safety
Each individual application of MiRHook 100 and MiRHook 200 requires its own safety evaluation.
The robot cannot detect objects between the robot and the cart and it cannot detect objects behind
the cart (the robot does not reverse as part of the route; however, it can reverse when parking a
cart).
For the same reason it is not possible to drive more than one cart at a time, i.e. it is not allowed to
chain carts together.
Two cameras are installed at the front of the robot: one on the lower robot skirt, detecting objects
from 5-50 cm above the floor and one on the hook, detecting objects up to 200 cm above floor.
7.1.1 MiRHook 100
When driving with a cart the maximum speed of the robot is 5.4 km/h. MiRHook 100 can move carts
with a total payload (incl. the weight of the cart itself) of 300 kg when driving on a horizontal, flat
and clean concrete surface. MiR100 equipped with MiRHook 100 can drive on ramps with a
maximum 5% inclination and a maximum payload (again incl. the cart itself) of 200 kg.
7.1.2 MiRHook 200
When driving with a cart the maximum speed of the robot is 4.0 km/h. MiRHook 200 can move carts
with a total payload (incl. the weight of the cart itself) of 500 kg when driving on a horizontal, flat
and clean concrete surface. MiR200 equipped with MiRHook 200 can drive on ramps with a
maximum 5% inclination and a maximum payload (again incl. the cart itself) of 300 kg.

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Safety
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8 Creating QR markers
8.1 Creating QR markers
A QR marker is needed for MiRHook to identify the individual carts. The QR code contains the
dimension of the marker and a unique name. The format is
SizeUnit-Name .
• Size: the length of one of the sides of the quadratic QR code.
• Unit: the measuring-unit of the size, for example mm (millimeters) or in (inches) etc.
• “-”: Remember the hyphen (-) which separates size and unit from the name.
• Name: a unique name displayed in the system.
Example:
The recommended size of a QR marker is between 70 and 100 mm. But the system is open to all
other sizes. The limit is whether the camera can see the QR marker or not.
QR markers can be created using any QR code generator. As long as the size is the same as stated in
the QR-code, there is no requirements for how to create the codes. An easy and free method is to
search the internet for QR code generators and use one of the many results.
Be sure to print a QR marker in 1:1 scale. If it does not match the size, it will not work.
It is recommended to use less than 17 characters in the QR code. Example "75mm-Cart_A" is 11
characters long. If more characters are added, then the QR-code will change format and it will
become more difficult to detect.

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