Milesight VS133 AI ToF People Counting Sensor

User Guide

Safety Precautions

Milesight is not responsible for any loss or damage resulting from not following the instructions in this guide. Although the device complies with Class 1 (IEC/EN 60825-1:2014), do not look directly at the ToF sensor. The device must not be disassembled or remodeled. Keep the product away from rain and moisture to avoid fire and electric shock. Do not place the device outside the operating temperature range. Avoid touching the device directly while it is running to prevent scalds. The device must not be subjected to shocks or impacts. Ensure the device is firmly fixed during installation. Do not expose the device to areas with laser beam equipment. Clean the lens with a soft, dry cloth.

Declaration of Conformity

The VS133 is compliant with the essential requirements and other relevant provisions of CE, FCC, and RoHS.

For assistance, please contact Milesight technical support:

Email: iot.support@milesight.com
Support Portal: support.milesight-iot.com
Tel: 86-592-5085280
Fax: 86-592-5023065
Address: Building C09, Software Park Phase III, Xiamen 361024, China

Revision History

Date	Doc Version	Description
May 24, 2023	V1.0	Initial version
Aug. 10, 2023	V1.1	1. Add staff lanyard accessory; 2. Add installation height detection feature; 3. Add DST time feature; 4. Add ToF frequency setting.
Sep. 28, 2023	V1.2	1. Add Region Monitoring function; 2. Add Feet Tracking tracking mode of counting; 3. Add preview layout edition feature; 4. Add cumulative count reset schedule feature.
Nov. 30, 2023	V1.3	1. Add Group Counting function; 2. Add video validation function; 3. Add other functions.
Mar. 31, 2024	V1.4	1. Support to configure WLAN IP address; 2. Add ToF lighting mode and noise filtering; 3. Add validation record task list.
May 20, 2024	V1.5	1. Add Enhanced Detection Mode. 2. Update installation distance.
Jun. 19, 2024	V1.6	Add People Counting Trigger Report.

1. Product Introduction

1.1 Overview

The VS133 is a sensor utilizing second-generation ToF technology for accurate people counting. It provides precise depth maps and longer detection distances while maintaining excellent privacy protection. The advanced ToF technology, combined with an AI algorithm, allows the sensor to handle complex scenes and distinguish non-human objects with up to 99.8% accuracy. The VS133 sensor integrates with Milesight LoRaWAN® gateways and the Milesight IoT Cloud. Its easy installation makes it ideal for entrances or corridors in retail stores, malls, offices, subways, and other locations.

1.2 Key Features

Up to 99.8% accuracy combining 2nd generation ToF technology and AI algorithm.
Works well in low-light or dark environments with great lighting adaptability.
Privacy-preserving, as it does not capture images.
Collects people counting data by differentiating between children and adults, and detecting staff via identification features for clearer analysis.
Smart U-turn detection filters redundant counting of people wandering in the area.
Supports queuing management via dwell time detection and regional people counting.
Wider field angle for longer-distance depth maps and larger area coverage.
Stores up to one million counting data locally and securely.
Supports video validation function to help verify statistical accuracy.
Easy configuration via Wi-Fi for web GUI.
Functions well with standard LoRaWAN® gateways and network servers.
Quick and easy management with Milesight IoT Cloud.

2. Hardware Introduction

2.1 Packing List

The package includes:

1 x VS133 Device
4 x Ceiling Mounting Kits
8 x Staff Tags
1 x Power Adapter
1 x VB01 Multifunctional Bracket Kit (Optional)
8 x Staff Lanyards (Optional)
1 x Quick Guide
1 x Warranty Card

If any items are missing or damaged, please contact your sales representative.

2.2 Hardware Overview

The device features:

RGB LED Indicator
Reset Button/Wi-Fi Button
ToF Sensor
DC Interface

2.3 Button and LED Indicators

Function	Action	LED Indication
Turn On/Off Wi-Fi	Press and hold the button for more than 3 seconds.	Blue blinks 3s; Wi-Fi on: Blue on; Wi-Fi off: Green on
Reset to Factory Default	Press and hold the reset button for more than 10 seconds.	Green Blinks.

2.4 Dimensions (mm)

Diagram showing the device dimensions: Length approximately 120mm, Width approximately 26mm, Height approximately 18mm.

3. Power Supply

The VS133 is powered by a power adapter (12VDC, 2A).

Diagram showing the device connected to a power adapter.

4. Access the Sensor

The VS133 offers a user-friendly web GUI accessible via Wi-Fi connection. Recommended browsers are Chrome and Microsoft Edge. The default Wi-Fi IP is 192.168.1.1, and the default SSID is People Counter_XXXXXX (found on the label).

Power on the device.
Enable Wireless Network Connection on your computer, search for the corresponding access point, and connect to it.
Open a browser and navigate to 192.168.1.1 to access the web GUI.
Select the language.
On the first use, set a password and three security questions (questions can be skipped by refreshing the webpage). After configuration, log in with username 'admin' and the custom password.

Note:

Password must be 8 to 16 characters long, containing at least two types of characters (numbers, lowercase letters, uppercase letters, special characters).
Click the "forgot password" link on the login page to reset the password by answering security questions if they were previously set.

Screenshot showing the activation/login page and the security question setup page.

5. Operation Guide

5.1 Dashboard

After successfully logging into the device web GUI, users can view the live video feed and data.

Screenshot of the Dashboard interface showing live video, counting data (Total In/Out, Capacity, Staff In/Out, Children In/Out, Group In/Out), status indicators (ToF Status, Schedule), and configuration options (Date & Time, Language, User).

Parameters and Descriptions:

Hide Capacity: Hides the total count data capacity.
Staff Excluded: Excludes staff data from statistical data.
Children Excluded: Excludes children data from statistical data.
Reset Count: Clears all accumulated entrance and exit people counting values.

5.2 Rule

The interface allows users to configure detection lines, U-turn areas, detection regions, and tracking lines.

Screenshot of the Rule configuration interface, showing Master Settings, Deployment Parameters (Installation Height, Max/Min Target Height, Child Filter Height), Multi-Device List, and Counting Strategy (Tracking Mode, Children Distinction, Staff Detection).

Draw Detection Lines

Users can draw detection lines to record people count values indicating entry or exit.

Click 'Draw Detection Lines'.
Left-click to start drawing, drag the mouse to draw a line, left-click again for a different direction, and right-click to complete. Lines can be dragged to adjust location and length. The device supports up to 4 broken lines, each with a maximum of 4 segments.
To delete a line, click 'Draw Detection Lines', select the line, and click 'Clear This Line' or 'Clear All'.

Note: The arrow direction of the detection line depends on the drawing direction. Users can flip lines using 'Flip Arrow Direction' or 'Flip All'. Ensure detected targets pass through the line completely. It is recommended that the detection line is perpendicular to the In/Out direction and centered within the detection area, free from obstructions. A redundant identification area on both sides of the line is recommended for stable recognition and tracking before passing the line, improving accuracy.

Rule Configuration

Users can set rules to ensure accurate counting.

Parameters	Description
Installation Height	Set the device installation height. Click 'Detect' to automatically detect the current height. Note: Ensure no objects are directly below the device that could interfere with height detection. Automatic detection is not supported on dark floors/carpets.
Max. Target Height	Set the maximum target height; objects taller than this value will be ignored.
Min. Target Height	Set the minimum target height; objects shorter than this value will be ignored.
Tracking Mode	Select the tracking mode: Heads Tracking or Feet Tracking. Heads tracking is recommended for low installation heights in standalone mode.
Enhanced Detection Mode	Enables normal counting and detection under conditions like abnormal depth images, obstacles in live view, or unmet installation conditions.
Children Distinction	Detects people shorter than the child filter height as children.
Staff Detection	Detects people wearing reflective stripes (width > 2cm, 500 cd/lux.m²) on visible parts (neck, shoulders) as staff.
U-turns Filtering	When enabled, allows drawing an area for each line. The device counts In and Out values only when people pass through this area. Users can draw these areas by left-clicking to start and right-clicking to stop. Up to 4 regions with 4 segments each are supported.

Screenshot showing the U-turn filtering setup and the Region Monitoring setup.

Group Counting

Enables group counting based on distance, moving direction, and speed difference for deeper customer behavior insights. Applicable only for line cross people counting. Data is reported only when enabled.

Region Monitoring

Allows adding up to 4 regions with a maximum of 10 segments each. Users draw regions on the screen, customize zone names, and enable Region People Counting and Dwell Time Detection. Pass-by Filtering and Min.Dwell Time can be set for accuracy and validity.

Advanced Properties

Configuration is displayed in a list. Areas can be redrawn, modified, or deleted.

Report Settings

Parameters	Description
Reset Cumulative Count on Schedule	Periodically resets cumulative counts (Total In/Out, Max/Avg. Dwell Time).
Periodic Report	Reports people counting data periodically. The period can be set from 1 to 1080 minutes (default 10 minutes).
Trigger Report	Reports immediately when line cross or region people counting numbers change.

Note: Due to ToF distance measurement errors (0.035 m), Max. Target Height should be set as maximum pedestrian height + 0.035 m, and Min. Target Height as minimal pedestrian height - 0.035 m. For example, for pedestrians 1.6 m to 1.8 m tall, configure Max. Target Height as 1.835 m and Min. Target Height as 1.565 m.

5.3 Communication

5.3.1 WLAN

The VS133 supports Wi-Fi for AP mode configuration and cannot connect to other access points.

Parameters	Description
Enable WLAN	Enables or disables the Wi-Fi feature. If disabled, use the button or LoRaWAN® downlink command to enable it.
Wi-Fi SSID	The unique name for the device's Wi-Fi access point.
WLAN IP Address	Configures the WLAN IP address for web access; default is 192.168.1.1.
Protocol	Supports 802.11b (2.4 GHz), 802.11g (2.4 GHz), and 802.11n (2.4 GHz).
Bandwidth	Supports 20 MHz or 40 MHz.
Channel	Selects the wireless channel (Auto, 1-11 are optional).
Security Mode	Options include No Encryption, WPA-PSK, WPA2-PSK, and WPA-PSK/WPA2-PSK.
Cipher	Options include AES, TKIP, AES/TKIP.
Wi-Fi Password	Sets the password when security mode is not 'No Encryption'.

5.3.2 LoRa

LoRa settings are used for configuring transmission parameters in a LoRaWAN® network.

Screenshots of LoRaWAN settings, including Device EUI, App EUI, Application Port, Join Type, Application Key, Rejoin Mode, Number of Detection, LoRaWAN Version, Region, RX2 Data Rate, RX2 Frequency, Spreading Factor, and Channel List.

Parameters	Description
LoRa Status	Indicates the LoRaWAN® network joining status.
Device EUI	Unique ID of the device, also found on the label.
App EUI	Default App EUI is 24E124C0002A0001.
Application Port	Default port for sending/receiving data is 85.
Join Type	OTAA and ABP modes are available.
Application Key	Appkey for OTAA mode (default: 5572404C696E6B4C6F52613230313823).
Device Address	DevAddr for ABP mode (5th to 12th digits of SN).
Network Session Key	Nwkskey for ABP mode (default: 5572404C696E6B4C6F52613230313823).
Application Session Key	Appskey for ABP mode (default: 5572404C696E6B4C6F52613230313823).
Rejoin Mode	Configures rejoin behavior based on reporting interval to validate connectivity.
Number of Detection	Sets the number of detections when rejoin mode is enabled (actual sending number is Number of Detection + 1).
LoRaWAN® Version	V1.0.2, V1.0.3 are available.
Region	Frequency plan for the device.
RX2 Data Rate	RX2 data rate for receiving downlinks.
RX2 Frequency	RX2 frequency for receiving downlinks.
Spreading Factor	Used if ADR is disabled; sends data via this spreading factor.
Channel	Selects channels from the list or enters an index. Examples: 1, 40; 1-40; 1-40, 60; All.

Note:

'Null' indicates all channels are disabled.
'Confirm Mode' resends data if ACK is not received from the network server.
'ADR' allows the network server to adjust the device's data rate.
Contact sales for device EUI lists or random App keys.
Only OTAA mode supports rejoin mode.
Select OTAA mode when connecting to Milesight IoT Cloud.

5.4 Report

The VS133 supports visual line or bar chart generation for people traffic and report exporting. Ensure the device time is correct on the System page before use.

Screenshot of the Report interface showing graph generation options (Event, Time Unit, Time Range, Line, Individuals/Groups, Region) and a sample people traffic report graph.

Parameters	Description
Event	Select the event to query: Line crossing counting, region people counting, or dwell time detection.
Time Unit	Select the unit for graph generation or data export (Hour, Day, Month).
Time Range	Select the time range for graph generation.
Line	Select the line to display on the graph.
Individuals/Groups	Select individuals counting reports or groups counting reports.
Region	Select the region to display on the graph.

Users can click 'Search' to generate the graph, 'Export' to get historical traffic data as CSV (up to one million records), select whether to include staff counts, choose display type (line or bar), and download graph screenshots.

5.5 Validation

The video validation function helps verify people counting accuracy by setting up video recording tasks.

Screenshot of the Validation interface showing a list of recording tasks (Task Name, Start Time, End Time, Duration, Task Status, Operation) and an '+Add' button.

Parameters	Description
Task Name	Shows the task name.
Start/End Time	Shows the start and end time of the video.
Duration	Shows the length of the video.
Task Status	Shows the video task status.
Operation	Click to view details, stop recording, or delete the task.
+Add	Click to add a video task. Up to 12 tasks can be added per device.

Set a Task of Recording

Users can customize task name, recording mode (Record Now or Setting Time), start time, duration (1-60 minutes), and video quality (Standard or Low Quality).

Note: Task time ranges cannot overlap. Detection rules and ToF frequency parameters cannot be modified during recording. Contact Milesight IoT support for a specialized player to play validation videos locally.

Playback Button

Controls for playback: Start Recording, Stop Recording, Set a Task of Recording, and playback buttons (Rewind, Pause, Play, Forward with speed options). Also includes options to enable/disable detection lines, U-turn areas, detection regions, and tracking lines in the footage. Users can download video stream footage.

5.6 System

5.6.1 Device Info

All hardware and software information is available on this page.

Screenshot of the Device Info table showing Device Name, Product Model (VS133-915M), SN, Hardware Version (V1.0), Software Version (V_133.1.0.1-b-t14), and MAC Address.

5.6.2 User

Users can manage device access.

Users: Lists existing users (e.g., 'admin' with Administrator level).
+ Add User: Allows adding new users with specified username, user level, and password.

Users can change the login password.

Screenshots showing user modification, password settings, security question setup, and adding a viewer with limited access.

5.6.3 Time Configuration

Manages the device's time settings.

Current System Time: Displays the current date and time.
Set the System Time: Allows setting Time Zone, enabling/disabling Daylight Saving Time (Start Time, End Time, DST Bias), and manually setting the time.
Synchronize Time: Synchronizes the device time with the computer.

Parameters	Description
Time Zone	Choose the time zone for your location.
Daylight Saving Time	Enable or disable Daylight Saving Time (DST). Start Time: DST start time. End Time: DST end time. DST Bias: adjusts DST time forward based on bias.
Setting Time	Manually set the device time.
Synchronize with computer time	Synchronizes the device time with your computer.

5.6.4 System Maintenance

Provides options for device maintenance.

Time of Flight Advanced Settings:

Frequency Adjustment: Adjusts ToF frequency modulation to avoid interference from surrounding IR devices. Use the same mode if multiple VS133 devices are present. Contact support if only one option is available.
ToF Lighting Mode: Set to 'Always On' or 'Schedule'. In Schedule mode, the ToF light is active only during scheduled hours to save power. Note: ToF light off does not affect periodic reports. During validation, ToF lighting is fixed to 'On'. The Dashboard displays relevant information when ToF Lighting Mode is used.
ToF Noise Filtering: Filters noisy points on the screen, especially on dark floors or carpets. Recommended strength: 2 for spacious environments, 10 for narrow environments with black carpet.

Reset:

Recovery device basic configuration: Resets without affecting IP settings and user information.
Recovery device to factory settings: Resets to factory defaults, requiring admin password verification.

Reboot: Restarts the device immediately.
Upgrade: Select an upgrade file and click 'Upgrade'. The device reboots automatically upon completion. The process takes 1-10 minutes; do not turn off power.
Backup and Restore: Export or Import configuration files.

6. Installation Instruction

Parameter definition:

Parameters	Explanation	Value
H	Installation height	≤3.5 m
d	Minimum detection distance of VS133	0.5 m
Δd	Distance measurement error of VS133	0.035 m
hmax	Maximum pedestrian height	Example 1.8 m
hmin	Minimum pedestrian height	Example 1.7 m
α	ToF horizontal field of view angle	98°
β	ToF vertical field of view angle	80°
x	Length of detection range
y	Width of detection range

6.1 Installation Height

The maximum installation height is 3.5 m. The minimum installation height is hmax + d + Δd. For example, with a maximum pedestrian height of 1.8 m, the minimum installation height is 1.8 + 0.5 + 0.035 = 2.335 m.

6.2 Covered Detection Area

The detection area depends on the field of view angle, installation height, and target height. The length is approximately x = 2.300 × (H - hmin) and the width is approximately y = 1.678 × (H - hmin).

Table showing detection area examples based on installation height:

Installation Height	FoV Monitored Area (m)	Detection Area (m)
2.5	5.75 × 4.20	1.84 × 1.34
2.6	5.98 × 4.36	2.07 × 1.51
2.7	6.21 × 4.53	2.30 × 1.68
2.8	6.44 × 4.70	2.53 × 1.85
2.9	6.67 × 4.87	2.76 × 2.01
3.0	6.90 × 5.03	2.99 × 2.18
3.1	7.13 × 5.20	3.22 × 2.35
3.2	7.36 × 5.37	3.45 × 2.52
3.3	7.59 × 5.54	3.68 × 2.69
3.4	7.82 × 5.71	3.91 × 2.85
3.5	8.05 × 5.87	4.14 × 3.02

6.3 Environment Requirements

Dark floor/carpet (black, grey, etc.) can affect staff counting when Staff Detection is enabled.
Avoid 940nm light, which may cause incorrect counting.
Mirrored reflections that direct sunlight onto the ToF Sensor should be avoided.
Ensure no obstacles are within the device's live view to prevent abnormal imaging (red appearance) or affect people counting. For black carpets/floors, set Noise Filtering Level to maximum.

6.4 Installation

Ceiling Mount

Ensure the ceiling thickness is over 30 mm. Drill 4 holes (6mm diameter) for mounting. If wires need to pass through the ceiling, drill a suitable wire hole.
Fix wall plugs into the ceiling holes.
Remove the device cover. Connect all required wires and pass them through the wire hole behind the device or side block.
Fix the device to the wall plugs using mounting screws. Adjust the mounting direction according to the detection area requirement.
Fix the cover back onto the device.

Ceiling/Lintel Mount (with Optional VB01 Multifunctional Bracket)

Attach the mounting plate to the device with 4 screws.
Fix the pole to the mounting plate using the hole on the plate.
Adjust the pole length and the 3-axis ball direction, then tighten with the handle.
Determine the mounting location, drill 3 holes, insert wall plugs, and fix the bracket base to the wall plugs with mounting screws. (Note: If wires need to pass through the ceiling or wall, drill a suitable wire hole.)
Remove the device cover, connect wires, and pass them through the inside of the pole.
Fix the pole to the bracket base with screws and nuts.

Note: Tilt installation should be avoided. Ensure the device front is parallel to the ground plane. Avoid installing the device against the wall; ensure proper distance between the device and the wall as shown in diagrams.

Diagrams illustrate installation steps and device positioning.

Condition	Standard Environment	Carpet/Floor is Dark (set max noise filtering level)
Normal imaging	x>50cm, y>60cm	x>50cm, y>75cm
Normal counting	x>50cm, y>50cm	x>50cm, y>50cm

Ensure no objects block the ToF light within a 30 cm radius of the device front.
For swinging doors, keep the door normally open. If normally closed, install the device on the opposite side of the door movement, at least 30 cm away.

6.5 Factors Affecting Accuracy

Wearing a fisherman's hat or carrying a cardboard box on the shoulder may prevent recognition as the target may not appear human-like in the depth map.
A humanoid doll with sufficient height carried by hand or on a cart may be mistaken for a person due to its human-like appearance in the depth map.

7. Communication Protocol

7.1 Uplink Data

The VS133 reports basic sensor information upon joining the network and people counts periodically. Decoder examples are available at: https://github.com/Milesight-IoT/SensorDecoders.

Channel	Type	Description
01	(Protocol Version)	01=> V1
ff	09 (Hardware Version)	01 04 => V1.4
	16 (Device SN)	16 digits
	1f (Software Version)	85 01 00 05 => 133.1.0.5
03	d2 (Accumulated counter)	Line 1 accumulated in counter, 4 bytes
04	d2 (Accumulated counter)	Line 1 accumulated out counter, 4 bytes
05	cc (Periodic counter)	Line 1: Byte 1-2: in counter during report interval; Byte 3-4: out counter during report interval
06	d2 (Accumulated counter)	Line 2 accumulated in counter, 4 bytes
07	d2 (Accumulated counter)	Line 2 accumulated out counter, 4 bytes
08	cc (Periodic counter)	Line 2: Byte 1-2: in counter during report interval; Byte 3-4: out counter during report interval
09	d2 (Accumulated counter)	Line 3 accumulated in counter, 4 bytes
0a	d2 (Accumulated counter)	Line 3 accumulated out counter, 4 bytes
0b	cc (Periodic Counter)	Line 3: Byte 1-2: in counter during report interval; Byte 3-4: out counter during report interval
0c	d2 (Accumulated counter)	Line 4 accumulated in counter, 4 bytes
0d	d2 (Accumulated counter)	Line 4 accumulated out counter, 4 bytes
0e	cc (Periodic Counter)	Line 4: Byte 1-2: in counter during report interval; Byte 3-4: out counter during report interval
0f	e3 (Region Monitoring)	Byte 1: people in region 1; Byte 2: people in region 2; Byte 3: people in region 3; Byte 4: people in region 4 (currently)
10	e4 (Region Monitoring)	Byte 1: region ID

Note: Byte 2-3: avg. dwell time; Byte 4-5: max. dwell time. If children distinction or staff detection is enabled, counts are adjusted (e.g., accumulated in counter = total in counter - children in).

Examples of device information and people counter reports are provided.

7.2 Downlink Command

The VS133 can be configured via downlink commands. The default Application Port is 85.

Channel	Type	Description
10 (Reboot)	ff (Reserved)
03 (Reporting Interval)	2 Bytes, unit: s
04 (Confirm Mode)	00: disable, 01: enable
05 (LoRaWAN® Channel Mask)	Byte 1: Channel index range (01: 0-15, 02: 16-31, 03: 32-47, 04: 48-63, 05: 64-79, 06: 80-95). Byte 2-3: disable/enable per bit.
40 (ADR)	00: disable, 01: enable
41 (Application Port)	1 Byte, default is 85
42 (Wi-Fi)	00: disable, 01: enable
43 (People Counting Periodic Report)	00: disable, 01: enable
44 (People Counting Trigger Report)	00: disable, 01: enable
51 (Clear the accumulated counting)	ff (Reserved)

Note: After changing LoRaWAN® parameters, the device will re-join the network.

Examples of downlink commands are provided (e.g., disabling Wi-Fi, setting channel mask, rebooting, setting reporting interval).

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