9. Commissioning
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 98
Figure 9.3. This QR code reads 75mm-Cart_A.
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.
It is required that at least 25 mm of empty white space surrounds the QR code.
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 are 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. For example,
75mm-Cart_A is 11 characters long. If more than 16 characters are added, the
QR code will change format, and it will become more difficult to detect.
AprilTags
MiR100 Hook can be set to read AprilTags instead of QR codes. AprilTags are conceptually
similar to QR codes. However, they are designed for high localization accuracy by encoding
far smaller data payloads, allowing them to be detected more robustly and from longer
ranges. When using AprilTags, the robot still picks up and places carts the same way as with
QR codes, but the detection is more robust and faster.
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